Convex cones in screw spaces

This work examines different screw systems and analyzes the possible subsets spanned by the various choices of a screw basis when the intensities of the wrenches, applied along the screws of the basis, are not allowed to change sign. Such sets arise in cable robotics, grasping and assembly. Convex screw spaces exhibit a surprising geometric variety, often even inside the same screw system. (c) 2005 Elsevier Ltd. All rights reserved.