Screw Theory in Lorentzian Space

Karakuş S.

Advances in Applied Clifford Algebras, vol.29, no.1, 2018 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 29 Issue: 1
  • Publication Date: 2018
  • Doi Number: 10.1007/s00006-018-0924-1
  • Journal Name: Advances in Applied Clifford Algebras
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Keywords: Kinematic, L-matrix multiplication, Lorentzian space, Screw, Tangent operator
  • Bilecik Şeyh Edebali University Affiliated: Yes

Abstract

In this paper we present various results about the six dimensional vectors obtained from the tangent operators of spatial motion, called as screws, in Lorentzian space. Each screw has an axis defined by six Plücker coordinates in Lorentzian space. The manipulation of screw coordinate transformations has been simplified by using Lorentz matrix multiplication and dual number algebra. Also, we showed that screw displacement is representation as the exponential of a dual angular velocity matrix by using the dual orthogonal matrices in Lorentzian space.