旋量变换的不变量

研究了旋量在矩心变换中的两个新的不变量；建立了旋量矩心变换同时伴随坐标变换的关系式，此式有利于多体系统中旋量分析的程式化。文末用本文所导公式具体计算了一个操作机械手的速度和角速度。

On Invariants in Motor Transformation in Analysis of Manipulator Mechanism

In my research on dynamics of manipulator mechanism, I have come to find that: (1)the use of velocity, momentum and force motors is my preference, (2) it is advantageous to mare use of four invariants in motor transformation, two of which I propose.The first invariant is vector part of the three motors.The second, third, and fourth invariants are mathematically expressed with eqs. (3),(9) and (13) respectively. The third and fourth invariants are proposed by me.Use of the four invariants allows me to relate the motors of the rigid bodies of the manipulstor. These relationships, in turn, allow me to prepare suitable computer programs for convenient recursive computations in analysis of dynamics of manipulator mechanisms.The use of four invariants also allows me to draw an important conclusion, mathematically expressed as eq. (15). Eq. (15) means that when coordinate transformation of motor is known, then transformation of its center is known.