Abstract
Sugimoto and Duffy[1] presented a general method of relating the system of instantaneous screws of a mechanism to the system of relative screws representing the joints. The central feature of this method is the evaluation of a screw which is reciprocal to a given set of screws. This screw is evaluated as the elliptic polar of a screw orthogonal to the set; the orthogonal screw is found by a Gram Schmidt process in which the elements are calculated using the inner products of pairs of screws. The inner product of two screws depends upon the choice of origin, basis and unit of length, but this paper shows that, despite this, the unit reciprocal screw evaluated using the procedure described by Sugimoto and Duffy is independent of the choice of these features.
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