The trajectory of a robot end-effector is described by a ruled surface and a spin angle about the ruling of the ruled surface. In this way, the differential properties of motion of the end-effector are obtained from the well-known curvature theory of a ruled surface. The curvature theory of a ruled surface generated by a line fixed in the end-effector referred to as the tool line is used for more accurate motion of a robot end-effector. In the present paper, we first defined tool trihedron in which tool line is contained for timelike ruled surface with timelike ruling, and transition relations among surface trihedron: tool trihedron, generator trihedron, natural trihedron, and Darboux vectors for each trihedron, were found. Then differential properties of robot end-effector's motion were obtained by using the curvature theory of timelike ruled surfaces with timelike ruling.

In this work, we define twisted surfaces in Galilean 3-space. In order to construct these surfaces, a planar curve is subjected to two simultaneous rotations, possibly with different rotation speeds. The existence of Euclidean rotations and isotropic rotations leads to three distinct types of twisted surfaces in Galilean 3-space. Then we classify twisted surfaces in Galilean 3-space with zero Gaussian curvature or zero mean curvature.

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In this work, we give some characterizations of spacelike curve with spacelike principal normal vector according to type-2 Bishop frame in Minkowski 3-space E 3 1 . Also, we obtain position vector of spacelike curves on Lorentzian sphere with respect to the type-2 Bishop curvatures. Finally, we establish some relations among Frenet apparatus of an evolute curve and type-2 Bishop apparatus of an involute curve in Minkowski 3-space.

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