Screw Theory in Lorentzian Space

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 Plucker 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.