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Abstract: As some kinematics problems are studied by the screw
theory, the dependency of screw system is a key problem. By linear
algebra theory, the dependency of screw system which is constituted by
three line vectors and three couples, four line vectors and two couples
or five line vectors and one couple, is discussed. A matrix is composed
of screws. The dependency of screw system is determined by the order of
the matrix. Criterions of the dependency are given. The dependency on
different geometrical conditions are listed. All of the results are
useful for studying parallel mechanism kinematics, such as degrees of
freedom and input selecting.
Key words: Parallel manipulator Dependency Screws theory
CLC No: TH112.1
国家自然科学基金资助项目(50275129).
Received 20041112, received in revised form 20050704
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