ON THE CURVATURE THEORY OF NON-NULL CYLINDRICAL SURFACES IN MINKOWSKI 3-SPACE

Abstract

This paper presents the curvature theory of non-null cylindrical surfacesin Minkowski 3-space. The definition of the line of striction and generator trihedronfor cylindrical surfaces in Minkowski 3-space are given. The derivation formulae andDarboux instantaneous rotation vectors of generator trihedrons which play importantrole in robot kinematics are found. Moreover, curvature theory of a Lorentzian circularcylinder is given as an example.