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Unformatted text preview: ) A real screw in a wooden board. 3 rad/s ˙
φ ˙
θ
d
b z
Ψ0 a 2 m/s x y b
θ z x Ψ0 a 2m y (d) Rolling/bouncing wheel. (e) Second joint in a mechanism. Figure 2: Motion and their twists. 2 Twists and their screw parameters 0
For each of the indicated motions in the ﬁgures (a) through (e), ﬁnd the instantanous twist Vab ,
that is, the rigidbody velocity of b relative to a, expressed in coordinates Ψ0 . Also ﬁnd the screw
parameters of the twist, that is, an axis direction ω (unit vector), axis location r (vector), pitch h
(real number, possibly inﬁnite), and magnitude M (positive number) such that
0
v
r...
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This note was uploaded on 10/09/2013 for the course EE 125 taught by Professor Ruzenabajcsy during the Fall '13 term at University of California, Berkeley.
 Fall '13
 RuzenaBajcsy

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