《螺旋理论》A Treatise on the Theory of Screws-PREFACE
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PREFACE.
About thirty years ago I commenced to develop the consequences of certain important geometrical and dynamical discoveries properly associated with the illustrious names of Poinsot and Chasles, Hamilton and Klein. The result of my labours I have ventured to designate as "The Theory of Screws."
As the theory became unfolded I communicated the results in a long series of memoirs read chiefly before the Royal Irish Academy. To this learned body I tender my grateful thanks for the continual kindness with which they have encouraged this work.
I published in 1876 a small volume entitled The Theory of Screws:A Study in the Dynamics of
a Rigid Body. This contained an account of the subject so far as it was then known.
But in a few years great advances were made, the geometrical theories were much extended, and the Theory of Screw-chains opened up a wide field of exploration. The volume just referred to became quite out of date.
A comprehensive account of the subject as it stood in 1886 was given in the German work Theoretische Mechanik starrer Systeme:Auf Grund der Methoden und Arbeiten und mit einem V orworte von Sir Robert S.Ball, herausgegeben von harry Gravelius,Berlin, 1889. This work was largely a translation of the volume of 1876 supplemented by the subsequent memoirs, and Dr Gravelius made some further additions.
The theory was still advancing, so that in a few years this considerable volume ceased to present an adequate view of the subject. For example, the Theory of Permanent Screws which forms perhaps one of the most instructive developments was not communicated to the Royal Irish Academy until 1890. The twelfth and latest memoir of the series containing the solution of an important problem which had been under consideration for twenty-five years did not appear until 1898.
It therefore seemed that the time had now come when an attempt should be made to set forth the Theory of screws as it stands at present. The present work is the result. I have endeavoured to include in these pages every essential part of the Theory as contained in the twelve memoirs and many other papers. But the whole subject has been revised and rearranged and indeed largely rewritten, many of the earlier parts have been recast with improvements derived from later researches, and I should also add that I have found it necessary to introduce much that has not been previously published.
The pleasant duty remains of expressing my thanks for the help that I have received from friends in preparing this book. I have received most useful aid from Prof. W. Burnside, Mr A.Y.G. Campbell, Mr G. Chawner, Mr A. W. Panton, Mr H. W. Richmond, Mr R. Russell, and Dr G. Johnstone Stoney. In the labour of revising the press I have been aided by Mr A. Berry, Mr A. N. Whitehead, and lastly by Professor C. J. Joly, who it will be seen has contributed several valuable notes.
Finally, I must express my hearty thanks to the Cambridge University Press for the liberality with which they undertook the publication of this book and for the willing consent with which they have met all my wishes.
ROBERT S. BALL.
OBSERV A TORY
CAMBRIDGE, 17 May, 1900.