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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Spherical Kinematics
verfasst von : J. Michael McCarthy, Gim Song Soh
Erschienen in: Geometric Design of Linkages
Verlag: Springer New York
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In this chapter we consider spatial displacements that are pure rotations in threedimensional space. These are transformations that have the property that one point of the moving body M has the same coordinates in F before and after the displacement. Because the distance between this fixed point and points in M are constant, each point in the moving body moves on a sphere about this point. If the origins for both the fixed and moving frames are located at this fixed point, then the spatial displacement is defined by a 3x3 rotation matrix. The study of spherical kinematics benefits from both the properties of linear transformations and the geometry of a sphere.