Instantaneous Invariants in Three-Dimensional Kinematics

[+] Author and Article Information
Y. Kirson

Department of Mechanical Engineering, Technion, Israel Institute of Technology, Haifa, Israel

A. T. Yang

Department of Mechanical Engineering, University of California, Davis, Calif.

J. Appl. Mech 45(2), 409-414 (Jun 01, 1978) (6 pages) doi:10.1115/1.3424310 History: Received September 01, 1977; Online July 12, 2010


The paper generalizes the concepts of canonical systems and instantaneous invariants from planar to three-dimensional kinematics. It presents a systematic procedure to determine the instantaneous invariants. An example is included for illustration. The instantaneous invariants are derived on the basis of line coordinates, therefore they are useful for the characterization of higher-order intrinsic properties of a ruled surface—the path trajectory of an arbitrary line embedded in a rigid body in three-dimensional motion. It is hoped that this study may be useful for the rational design of spatial mechanisms for surface generation.

Copyright © 1978 by ASME
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