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    CAD/CAM: Geometric Description (Rotation About An Arbitrary Axis)

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    ahmed_ibrahiem
    The document discusses rotation of points about arbitrary axes in 2D and 3D space. In 2D, rotation of a point P about an axis is achieved through three successive transformations: 1) translation to local axis coordinates, 2) rotation using a 2D rotation matrix, 3) translation back to original coordinates. In 3D, the process is similar but uses three concatenated rotation matrices about x, y, and z axes between two translation transformations.

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    CAD/CAM: Geometric Description (Rotation About An Arbitrary Axis)

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    ahmed_ibrahiem
    162 views3 pages
    The document discusses rotation of points about arbitrary axes in 2D and 3D space. In 2D, rotation of a point P about an axis is achieved through three successive transformations: 1) translation to local axis coordinates, 2) rotation using a 2D rotation matrix, 3) translation back to original coordinates. In 3D, the process is similar but uses three concatenated rotation matrices about x, y, and z axes between two translation transformations.

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    The document discusses rotation of points about arbitrary axes in 2D and 3D space. In 2D, rotation of a point P about an axis is achieved through three successive transformations: 1) translation to local axis coordinates, 2) rotation using a 2D rotation matrix, 3) translation back to original coordinates. In 3D, the process is similar but uses three concatenated rotation matrices about x, y, and z axes between two translation transformations.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOC, PDF, TXT or read online from Scribd
    Download as doc, pdf, or txt
    162 views3 pages

    CAD/CAM: Geometric Description (Rotation About An Arbitrary Axis)

    Uploaded by

    ahmed_ibrahiem
    The document discusses rotation of points about arbitrary axes in 2D and 3D space. In 2D, rotation of a point P about an axis is achieved through three successive transformations: 1) translation to local axis coordinates, 2) rotation using a 2D rotation matrix, 3) translation back to original coordinates. In 3D, the process is similar but uses three concatenated rotation matrices about x, y, and z axes between two translation transformations.

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    CAD/CAM: Geometric Description (rotation about an arbitrary axis)

     Coordinate rotation (same point in different coordinates)

    A point P can be expressed in terms of (x,y) or rotated coordinate (x’,y’). They are
    related by the transformation matrix.

    x y
    x’ cos sinθ
    θ
    y’ - cosθ
    sinθ

    Note that the same results can be obtained by rotating the point P in opposite direction
    (i.e., -θ ) while keeping (x’,y’) coordinates aligned with (x,y) coordinates.

     Rotation of a point in a coordinate

    When the point P is rotated clockwise, the new coordinates can be obtained by the same
    transformation matrix as the previous case. Note the rotation is positive in the right-hand
    rule.
    x y
    x” cos sinθ
    θ
    y” - cosθ
    sinθ

    Therefore, for the positive rotation θ the relation becomes

    x y
    x” cos -
    θ sinθ
    y” sinθ cosθ

    Thus,

    x" cos θ −sin θx 


     =   
    y" sin θ cos θ 
    y 

    When this is arranged in proper form for CAD data handling taking the transpose of both
    sides, it becomes

     cos θ sin θ 
    { x" y"} ={ x y} 
    − sin θ cos θ 

     Rotation of a point about an arbitrary axis (or a point)

    Since the rotation matrix is defined about the origin of a coordinate, in order to use it we
    must use the local coordinates with origin at the axis of rotation. Once we rotate it, we
    have to transform it back to original coordinates. The transformation from one coordinate
    to another in rectilinear fashion is nothing but the translation. Therefore, three
    successive transformations are needed as:
    [C]new = [C]old [T]1 [R] [T]2

    where
     1 0 0  cos θ sin θ 0 1 0 0
    [T ]1 = 
     0 1 0, [ R ] = 

    − sin θ cos θ 0, [T ] 2 = 

    0 1 0
     , and

    − ∆x − ∆y 1
     
     0 0 1
     
    ∆x ∆y 1

    [C] is in the form of [x, y, 1].

     3D Rotation of a point about an arbitrary axis

    [C]new = [C]old [T]1 [R] [T]2

    Only difference in 3D is that there is a concatenation of three rotations about three axes
    as:
     1 0 0 0 1 0 0 0
     0 1 0 
    0 0 1 0 0
    [T ]1 =  , [ R ] =[ R ] x [ R ] y [ R ] z , [T ] 2 =  
     0 0 1 0 0 0 1 0
       
    − ∆x − ∆y − ∆z 1 ∆x ∆y ∆z 1
    , and [C] is

    in the form of [x, y, z, 1]. The rotational matrices about x, y, z-axis are given by

    1 0 0 0 cos θ y 0 − sin θ y 0  cos θ z sin θ z 0 0


    0 cos θ sin θ x 0   0 1 0 0 − sin θ cos θ z 0 0
    [ R] x =  x
    , [ R] y =  , [ R] z =  z
    0 − sin θ x cos θ x 0  sin θ y 0 cos θ y 0  0 0 1 0
        
    0 0 0 1  0 0 0 1  0 0 0 1
    Note Ry is different from the other two due to right-hand rule for rotation.

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