Table 1 Elemental representation of atlas
| Atlas elements | Physical significance | Helical vector type |
|---|---|---|
| Force constraints |
Line vector \( {\$ }^{r} = ({\mathbf{S}} ; { }{\mathbf{S}}_{0} ) \) |
| Couple constraint |
Couple vector \( {\$ }^{r} = (0 ; { }{\mathbf{S}}) \) |
| The rotating DOF |
Line vector \( {\$} = ({\mathbf{S}} ; { }{\mathbf{S}}_{0} ) \) |
| The moving DOF |
Couple vector \( {\$ } = (0 ; { }{\mathbf{S}}) \) |