Twists and wrenches

Equivalent static (equipollent) systems for a rigid body

fQ

fP

mP

rPQ

Q
P

mQ
Q

For force - moment pairs at P and Q to have the same static properties then
from equilibrium considerations it can be shown that,
f P = fQ f
m P = m Q + rPQ f

Twists and wrenches

Equivalent velocity systems for a rigid body
Q

vP

rPQ

Q
P

vQ
Q

For angular velocity - linear velocity pairs at P and Q to have the same kinematic
properties then from differentiating displacement it can be shown that,
P = Q
v P = v Q + rPQ

Twists and wrenches

Duality
Statics and velocities are dual quantities. Relations in statics have similar
counterparts in velocities and vice versa. They are very well illustrated
when comparing serial and parallel robots.
The similar transformations between moments and linear velocities is
sometimes called the shifting property,

m Q = m P + rQP f
v Q = v P + rQP
r mP
u la
g
an
lin
dual
ear
vP

dual relations between linear

and angular quantities.

Twists and wrenches

Wrench

f
mQ
Q

mP
P

virtual
extension
A wrench is a force along a line plus a moment parallel to the line.

All rigid body loads are equivalent to a wrench. When

represented at point P the ray coordinates of the wrench are
f
w = which is also written more compactly as w = [f ; m P ].
m P

Twists and wrenches

Twist

vQ
Q

vP
P

virtual
extension

A twist is a rotation about an axis plus a translation parallel to the axis.

All rigid body motions (velocities) are equivalent to a twist. When
represented at point P the axis coordinates of the twist are
v
T = P which is also written more compactly as T = [ v P ; ].

Twists and wrenches

Twist

h
r

vP
P

Let [ v P ; ] be given with 0

Forming gives,

and Q be on the twist axis then,

vP

Forming and expanding gives,

v Q = h (h a scalar)
But v Q = v P + r (r rQP )

h=

vP
where r is the

perpendicular vector to the axis.
r =

so
h = v P + r

Twists and wrenches

Twists and screws

hu
Q

Along the twist axis the body is rotating and

translating, so at this instant the body is
executing as screwing motion. The twist is

vP
P

said to be a " twist about a screw" and the

twist axis is also called a screw axis. The

scalar h is the " pitch" of the screw and represents the ratio of advancement to
turning about the screw axis.
If the direction of the axis is u then = u. Along the axis, say at Q,
[ v Q ; ] = [hu; u]
At another point P the shifting law gives,
[ v P ; ] = [h + r ; ] = [hu + r u; u]
Quantity [hu + r u; u] is said to be the " axis" coordinates of the screw.

Twists and wrenches

0

Special twists

h 00

h=0
r

vP
If h = 0, the body is rotating

about the axis and

[ v P ; ] = [r ; ]
= [r u; u]
The pair [r u; u] is also
known as the ray coordinates
of the axis - of - rotation.

v
As r , the body translates and

[ v P ; ] = [ v; 0]
= v[e; 0]
for all points on the body.
Sometimes the screw axis is said
to be infinitely distant. This is
the degenerate case.

Twists and wrenches

Wrench
f

hf
Q

mP
P

Let [f ; m P ] be given with f 0

Forming f gives,

and Q be on the wrench axis then,

f mP
f f
Forming f and expanding gives,

m Q = hf (h a scalar)
But m Q = m P + r f (r rQP )

h=

f mP
where r is the
f f
perpendicular vector to the axis.
r =

so
hf = m P + r f

Twists and wrenches

Wrenches and screws

fu
fhu
Q

Along the wrench axis there is a force and

mP
parallel moment. In analogy with twists, it
said to be a " wrench about a screw" and the
P
wrench axis is also called a screw axis. The
scalar h is the " pitch" of the screw and represents the ratio of advancement to
turning about the screw axis. It also represents the ratio of force to moment
along the wrench axis.
If the direction of the axis is u then f = fu. Along the axis, say at Q,
[f ; m Q ] = f [hu; u]
At another point P the shifting law gives,
[f ; m P ] = [f ; hf + r f ] = f [u; hu + r u]
Quantity [u; hu + r u] is said to be the " ray" coordinates of the screw.

Twists and wrenches

f 0

Special wrenches

h 00

h=0
r

mP
If h = 0, the wrench is a

m
As r , the influence of

force along the axis and

the force lessens and

[f ; m P ] = [f ; r f ]

[f ; m P ] = [0; m]
= m[0; e]

= f [u; r u]
The pair [u; r u] is also
known as the ray coordinates
of the line - of - action (axis)

for all points on the body.

Sometimes the screw axis is
said to be infinitely distant.

Twists and wrenches

Summary table
Load
Wrench
h 0 [f ; m ] = [f ; hf + r f ]
P
= f [u; hu + r u]

h=0

Force
[f ; m P ] = [f ; r f ]
= f [u; r u]

h 00
r

Couple
[f ; m P ] = [0; m]
= m[0; e]

Motion

Geometry

Screw
Twist
[ v P ; ] = [h + r ; ] [u; hu + r u] (ray)

= [hu + r u; u] [hu + r u; u] (axis)

Rotation
[ v P ; ] = [r ; ]
= [r u; u]
Translation
[ v P ; ] = [ v; 0]
= v[e; 0]

Line
[u; r u] (ray)
[r u; u] (axis)
Line at
[0; e] (ray)
[e; 0] (axis)

Twists and wrenches

Power

f v
P

vQ

f mQ
mP
Q

If a body applies a wrench w while moving with twist T the power generated is
Power = TT w = w T T
= f vP + mP
= f vQ + mQ
and is independent of the particular point P or Q use to express the coordinates
of the twist and wrench. Note that T and w must be specified with respect
to the same point. When Power = 0, T and w are said to be reciprocal.

Twists and wrenches

Components
For some point P the components of a twist and wrench are,
vPx
v
Py
v v
T = P = Pz ,
x
y

z

fx
f
y
f f
w= = z
m P mPx
mPy

mPz

Twists and wrenches

Planar twists and wrenches
For planar kinematics it is assumed that no linear velocity component is out
of the x-y plane, so vPz = 0, and no angular velocity component is in the plane,
so x = y = 0.
For planar statics it is assumed that no force component is out
of the x-y plane, so f z = 0, and no moment component is in the plane,
so mPx = mPy = 0.
vPx
v
Py
v 0
T = P = ,
0
0

z

fx
f
y
f 0
w= =
m P 0
0

mPz

Twists and wrenches

Planar twists and wrenches
For planar mechanics it is convenient to only write the nonzero components
and introduce a shorthand notation,
vPx
fx
f
v P
T = vPy , w = f y

mP m
z
Pz
where v P and f are now 2 1 vectors, and and mP are scalars.
It is also convenient to keep in mind that = z k , m P = mPz k and
f = f x i + f y j, v P = vPx i + vPy j when using three dimensional vector
formulations such as the shifting properties,
Q = P
v Q = v P + rQP
or the pitch (h) and perpendicular vector (r ) formulas.

Twists and wrenches

Planar twists
0

h=0

vP

h 00

For planar twists there is no linear velocity In the exceptional case that = 0
component in the direction of the rotation the body is translating so all points
axis. Thus if 0 then h = 0 and all such have velocity v.
planar twists are rotations.

Sometimes the rotation axis is said

to be infinitely distant, r . This

The vector to the rotation axis is

r =

vP

is the degenerate case.

Twists and wrenches

Planar wrenches
mP
P

f
r

h=0

m
P

f 0
h 00

For planar wrenches there is no moment

In the exceptional case that f = 0

component in the direction of the force

line - of - action. Thus if f 0 then h = 0

the wrench is a couple so at all points

the net moment is m.

and all such planar twists are rotations.

Sometimes the line - of - action is said

The vector to the force line - of - action is to be infinitely distant, r . This
f mP
is the degenerate case.
r =
f f

Twists and wrenches

Plan view
f
P

mP r

vP
In the plan (top) view, the rotation axis
projects the point Q. The rotation axis is
also known as the instantaneous axis of

In the plan view the line - of - action

appears similar to the three dimensional
representation.

rotation and the projection is known as

the instant center of rotation.

Some symmetry between twists and

wrenches is lost for planar mechanics
unless the three dimensional viewpoint
is kept in mind.

Twists and wrenches

Line coordinates
f
P

mP

vP

v r (k )
r k
=
T = P =

1
The coordinates [r k ; 1] are also
known as the axis coordinates
of the rotation axis (instant center).

fu
f
u

w= =
= f

r u k
mP r ( fu) k
The coordinates [u; r u k ] are also
known as the ray coordinates
of the line - of - action.

Twists and wrenches

Line coordinates special cases
=0

f =0

v = vu

v
u
Translation : T = = v
0
0

0
0
Couple : w = = m
m
1

Twists and wrenches

RRR serial robot forward velocity analysis
&1

T = J &2 (J - Jacobian)
&3

&1
v e p e1 k p e 2 k p e 3 k &
2
= 1
1
1 &

3

p k
p k & p e 3 k &
= e1 &1 + e 2
2 + 1 3
1
1

= T1 + T2 + T3
th

where the i twist, Ti , represents the end - effector

motion due to the i th joint with the others held fixed;
and where p ei points from the end - effector point e to
the i th joint.

ve
e

&

&2

&3

Twists and wrenches

RRR serial robot power and reverse static analysis
end effector power = joint power
T

&1 1

TT w = &2 2
&3 3

T
T
&1
&1 1
& T
&
2 J w = 2 2
&3
&3 3


Since the relation must hold for all joint rates,
1
J w = 2
3
which is the reverse static analysis.
T

Twists and wrenches

3RPR parallel robot forward static analysis
f1
w = H f 2 , (H J T )
f 3
f1
u2
u3
f u1

m = r u k r u k r u k f 2
e2
e3
2
3
e e1 1
f
3
f1
u1
u2

u3

=
f1 + r u k f 2 + r u k f 3

r
u
k
1
1
e

e2 2
e3 3
= w1 + w 2 + w 3
where the i th wrench, w i , represents the end - effector
loading due to the i th actuator with the others held fixed;
and where rei points from the end - effector point e to
the i th line - of - action.

f
me
e

u1

f2

u2

f3

u3

Twists and wrenches

3RPR parallel robot power and forward velocity analysis
end effector power = joint power
f1
w T T = f 2
f 3
T

v1
v
2
v3
T

f1
f1 v1
f J 1T = f v , (H = J T )
2
2 2
f 3
f 3 v3
Since the relation must hold for all actuator forces,
v1
T = J v2
v3
which is the forward velocity analysis.