Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 11, issue 1
Articles | Volume 11, issue 1
https://doi.org/10.5194/ms-11-91-2020
© Author(s) 2020. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-11-91-2020
© Author(s) 2020. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 11, issue 1
Research article
 | Highlight paper
 | 
01 Apr 2020
Research article | Highlight paper |  | 01 Apr 2020

A general method for the determination of the instantaneous screw axes of one-degree-of-freedom spatial mechanisms

Juan Ignacio Valderrama-Rodríguez, José M. Rico, and J. Jesús Cervantes-Sánchez

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Latest update: 24 May 2026
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Short summary
The paper presents a general procedure to determine the instantaneous rotation center for planar mechanisms, or its kinematical equivalent in the case of spherical or spatial cases, from the velocity analysis of the mechanism. The procedure is based on the theoretical results of the Lie algebra, se(3), of the Euclidean group, together with the Killing and Klein forms. The paper shows that a previous contribution contains fundamental errors and it was done in order to unify the theory.
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