Abstract

A linear representation of the finite motion of a prismatic-revolute dyad is presented. This representation shows that all screws associated with the finite displacements of the outermost body of a prismatic-revolute dyad form a screw system of the third order (a 3-system). The screw system associated with infinitesimal displacements of the outermost body of the prismatic-revolute dyad is shown to be a limiting case of the 3-system. The analytic expression of the screw system of displacement of a point of a body is also derived from the 3-system.

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