In free space you can set a top spinning and push it along the spin axis, and a point in the rim of the top will describe a helix in space as it travels. If you apply a torque to begin a top spinning, it continues to spin after you let go. Note that you can have a velocity without a force or an angular velocity without a torque. Twist is (LinearVelocity, AngularVelocity) and Wrench is (Force, Torque). I'm not familiar with trade-specific robotics terminology but I do notice in your question:
The difference, from what you've posted, seems to depend on the presence of absence of force. A screw has 6 components and they are arranged as a vector $\mathbf_A $$īut that is a subject of another question, as the derivation of the spatial equations of motion is rather involved at this stage. I hope the following definitions will help you out:Ī 3D Screw is an object that represents a line in space (direction & location) in addition to a magnitude and a pitch value. The definitions pertain to rigid body mechanics in general and are not specific to robotics. All of them combine the linear and angular aspects of the thing they describe in one 6×1 object. "Screw" is the general term, and "Twist" is the specific application to motion whereas "Wrench" is the specific application to forces and momentum.
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