SPHERICAL INDICATRICES OF INVOLUTE OF A SPACE

CURVE IN EUCLIDEAN 3-SPACE

YILMAZ TUNÇER, SERPIL ÜNAL, AND MURAT KEMAL KARACAN

arXiv:1204.2988v1 [math.DG] 13 Apr 2012

Abstract. In this work, we studied the properties of the spherical indicatrices

of involute curve of a space curve and presented some characteristic proper-
ties in the cases that involute curve and evolute curve are slant helices and
helices, spherical indicatrices are slant helices and helices and we introduced
new representations of spherical indicatrices.

1. Introduction
The specific curve pairs are the most popular subjects in curve and surface theory
and involute-evolute pair is one of them. We can see in most textbooks various
applications not only in curve theory but also in surface theory and mechanic.
In this study, the spherical indicatrices of involute of a space curve are given.
In order to make a involute of a space curve and its evolute curve slant helix, the
feature that spherical indicatrices curve’s need to have are examined.
Let γ : I −→ IR3 be a curve with γ 0 (s) 6= 0, where γ 0 (s) = d γ (s) /ds. The
arc-lenght s of a curve γ (s) is determined such that kγ 0 (s)k = 1. Let us denote
T (s) = γ 0 (s) and we call T (s) a tangent vector of γ at γ(s). We define the
curvature of γ by κ (s) = kγ 00 (s)k. If κ (s) 6= 0, then the unit principal normal
vector N (s) of the curve at γ(s) is given by γ 00 (s) = κ (s) N (s). The unit vector
B (s) = T (s) ΛN (s) is called the unit binormal vector of γ at γ(s). Then we have
the Frenet-Serret formulae
T 0 = κN , N 0 = −κT + τ B , B 0 = −τ N
where τ (s) is the torsion of γ at γ(s) [7].
The curve γ is called evolute of γe if the tangent vectors are orthogonal at the
corresponding points for each s ∈ I ⊂ IR. In this case, γ e is called involute of the
curve γ and there exists a relationship between the position vectors as
e(s∗ ) = γ(s) + λT (s)
γ
where λ is the distance between the curves γ and γ e at the corresponding points for
each s. The pair of (e
γ , γ) is called a involute-evolute pair. λ is not a constant for
involute-evolute pairs[7].
On the other hand, Izumiya and Takeuchi have introduced the concept of slant
helix by saying that the normal lines make a constant angle with a fixed straight

Date: August 26, 2011.

2010 Mathematics Subject Classification. 53A04.
Key words and phrases. Involute curve, Evolute curve, Helix, Slant helix, Spherical indicatrix.
This paper is in final form and no version of it will be submitted for publication elsewhere.
1
2 YILMAZ TUNÇER, SERPIL ÜNAL, AND MURAT KEMAL KARACAN

line. They characterize a slant helix if and only if the geodesic curvature of the
principal image of the principal normal indicatrix
f0
(1.1) Γ= 3/2
κ (1 + f 2 )
is a constant function, where f = κτ [5, 8] .
In this study, we denote T , N , B, κ, τ and Te, Ne , B,
e κe, e
τ are the Frenet equip-
ments of γ and γe, respectively. Tangent, principal normal and binormal vectors are
described for the spherical curves which are called tangent, principal normal and
binormal indicatrices both the curves γ and γ e, respectively. Throughout this study,
both involute and evolute curves are regular.

2. Spherical indicatrices of involute of a curve

In this section, we introduced the spherical indicatrices of involute curve of a
curve in Euclidean 3-space and gave considerable results by using the properties of
the curves, similar to the previous section. Let γ be a curve with its involute curve
γ
e then

(2.1) e(s∗ ) = γ(s) + λT (s)

γ

where

(2.2) λ = |c − s|

and (c − s) is definitely positive. Let  be the sign of (c − s) such that if c − s > 0,

 = +1 and if c − s < 0,  = −1. We differentiate the equation (2.1) with respect
to s, we get
ds∗
Te = (1 − ) T + κ (c − s) N.
ds
Since T and Te are orthogonal, there is no any component of Te on T . Thus  has
to be +1.

Theorem 1. Let γ
e be involute of a space curve, then we have Frenet formula:

Te0 = κ
eNe, e 0 = −e
N κTe + e
τ B,
e e 0 = −e
B τNe

where

Te = N, e = p −1 T + p f
N B, e=p f
B T+p
1
B
1 + f2 1 + f2 1+f 2 1 + f2
with the parametrization
ds 1
(2.3) ∗
=
ds κ (c − s)
e (s∗ ) are
and the curvature and torsion of γ
p
1 + f2 f0
(2.4) κ
e= , e τ= .
c−s κ (c − s) (1 + f 2 )
SPHERICAL INDICATRICES OF INVOLUTE OF A SPACE CURVE IN EUCLIDEAN 3-SPACE3

The geodesic curvature of the the principal image of the principal normal indicatrix
of involute curve is
  0 2 
2

00 0 0

3
1 + f (f κ − f κ ) − 3κf f 1 + f2 2
(2.5) Γ
e=
 3
3 2 2
κ2 (1 + f 2 ) + (f 0 )

From (2.4), it is obvious that involute of γ is a planar curve if and only if γ is

a generalized helix. For further usage we denote κeeτ as fe. By using (1.1) and (2.4)
we obtained the relation
f0
fe = 3/2
=Γ
κ (1 + f 2 )
and so we have
(2.6) fe = Γ.
Thus we have the following theorem.
Theorem 2. Let γ e be involute of a space curve γ then γ
e is a generalized helix if
and only if its evolute is a slant helix.
We obtained the relation between Γe and Γ by using (1.1) and (2.5) as

4
κ2 1 + f 2 Γ0
(2.7) Γ= 
e
3
3 2 2
κ2 (1 + f 2 ) + (f 0 )
Thus we can give the following theorem.
Theorem 3. Let γ e be involute of a space curve γ then γ
e is a slant helix if and only
if γ is a slant helix.
The spherical image of tangent indicatrix of γ
e is
et (s∗t ) = Te(s∗ )
γ
with the natural parameter s∗t .
Theorem 4. If the Frenet frame of the tangent indicatrix γ
et = Te of involute of
γ(s) is {Tt , Nt , Bt }, we have Frenet formula:
e e e

Tet0 = κ
et N
et , et0 = −e
N κt Tet + e
τ tB
et , et0 = −e
B τ tN
et
where
et = −Te + feB feTe + B
e e
(2.8) Tet = N
e , N q , B
et = q
1 + fe2 1 + fe2
with the parametrization
ds∗ 1
(2.9) ∗ =
dst κ
e
and the curvature and torsion of γ
et are
fe0
q
(2.10) et = 1 + fe2 , e
κ τt =  .
e 1 + fe2
κ
4 YILMAZ TUNÇER, SERPIL ÜNAL, AND MURAT KEMAL KARACAN

The geodesic curvature of the principal image of the principal normal indicatrix of
γ
et is
    0 2    32
2 00 0 0
1+f e f κ
e e−f κ
e e − 3e κf fe
e 1 + fe2
(2.11) Γ
et =
  3  2  32
2
κ
e 1+f e2 + fe0

Form (2.10) we have the following theorem.

Theorem 5. Let γ e be involute of a space curve γ then spherical image of the
tangent indicatrix of γ
e is a circle on unit sphere if and only if evolute of γ
e is a
generalized helix.
By using (2.6) and theorem 5, we can state the following corollary.
Corollary 1. Spherical image of the tangent indicatrix of γ
e is a circle on unit
sphere if and only if evolute of γ
e is a slant helix.
From (2.10) and (2.11) we obtained
0
τt
e fe
(2.12) = 1/2 = Γ
e
κ
et 
e 1 + fe2
κ

and the relation between Γ

e and Γ
e t is
 4
e2 1 + fe2 Γ
κ e0
(2.13) Γ
et =
  3  2  32
e2 1 + fe2 + fe0
κ

so we have the following theorem.

Theorem 6. Let γ e be involute of a space curve γ then spherical image of the
tangent indicatrix of γe is a spherical helix if and only if involute of γ is a slant
helix. In this case, spherical image of the tangent indicatrix of γ
e is a slant helix on
unit sphere too.
The relation
4
τt
e κ2 1 + f 2 Γ0
=  32
κ
et 3 2
κ2 (1 + f 2 ) + (f 0 )
can obtained by using (2.7) and (2.12). Hence we can give the following theorem.
Theorem 7. Let γ
e be involute of a space curve γ then followings are true.
Theorem 8. i. If γ is a slant helix then spherical image of the tangent indicatrix
of its involute is a generalized helix.
ii. If γ
e is a slant helix then its spherical image of the tangent indicatrix is a
spherical slant helix.
The spherical image of principal normal indicatrix of involute of the curve γ(s)
is
en (s∗n ) = N
γ e (s∗ )
with the natural parameter s∗n .
SPHERICAL INDICATRICES OF INVOLUTE OF A SPACE CURVE IN EUCLIDEAN 3-SPACE5

Theorem 9. If the Frenet frame of the principal normal indicatrix γ en = N

e of
involute of the curve γ(s) is {Ten , N en }, we have Frenet formula:
en , B

(2.14) Ten0 = κ
en N
en , en0 = −e
N κn Ten + e
τ nB
en , en0 = −e
B τ nN
en
where
−Te + feBe
Ten = q
1 + fe2
0
   3 0
 
efefe 1 + fe2
κ e2 1 + fe2
κ efe 1 + fe2
κ
(2.15) N
en = Te − N
e+ B
e
ρ ρ ρ
  52 0
  32   52
e2 fe 1 + fe2
κ efe 1 + fe2
κ e2 1 + fe2
κ
B
en = Te + N
e+ B
e
ρ ρ ρ
with the parametrization
ds∗ 1
(2.16) = q
ds∗n
e 1 + fe2
κ
and the curvature and torsion of γ en are
ρ
κ
en =  (2.17)
3
e2 1 + fe2
κ
" #  ! !0   !0 !
 −fefe0 2 κe2 (1+fe2 )3 0 3 5 0 3 5
−fe (1+fe2 ) 2 e (1+fe2 ) 2
2
efe (1+fe2 ) 2 e(1+fe2 ) 2

κ κ κ
τn =
e ρ2 + ρ ρ
+
ρ ρ

 

where r 
2  3
ρ= e2 1 + fe2
fe0 + κ
.The geodesic curvature of the principal image of the principal normal indicatrix of
γ
en is
n  0
o  92
e2 1 + fe2 σ 0 κ κ0 + 6σe


κ e + 2σe κfefe 1 + fe2
(2.18) Γen =
  6  32
e4 1 + fe2
ρ2 + σ 2 κ

where

τ n = σ.
e
The spherical image of binormal indicatrix of involute of the curve γ(s) is
eb (s∗b ) = B
γ e (s∗ )
with the natural parameter s∗b .

Theorem 10. If the Frenet frame of the binormal indicatrix γeb = B

e of involute of
the curve γ(s) is {Teb , N eb }, we have Frenet formula:
eb , B

Teb0 = κ
eb N
eb , eb0 = −e
N κb Teb + e
τ bB
eb , eb0 = −e
B τ bN
eb
6 YILMAZ TUNÇER, SERPIL ÜNAL, AND MURAT KEMAL KARACAN

where
eb = − Te + feB eb = − feTe − B
e e
(2.19) Teb = −N
e , N q , B q
1 + fe2 1 + fe2
with the parametrization
ds∗ 1
(2.20) ∗ =
dsb τ
e
and the curvature and torsion of γ
eb are
q
0
1 + fe2 −fe
(2.21) κ
eb = , e
τb =  .
fe e fe 1 + fe2
κ
The geodesic curvature of the principal image of the principal normal indicatrix of
γ
eb is
 5   0 2  0 0   2  3
1+f e2 2
−f f
e e τ −e2 e2 fe
τ f + 3e
τ e3 fe0
f 1 + e2 2
f
e τ
e
(2.22) Γeb = .
  3  2  32
2 0
τ 1 + fe2 + fe2 fe
e

From (2.21) we have the following theorem.

Theorem 11. Let γ be a space curve and γ e be its involute with nonzero torsion
then spherical image of binormal indicatrix of γ
e is a circle on unit sphere if and
only if γ
e is a generalized helix.
The relation
0
τb −fe
3/2 = −Γ
e
(2.23) = e
κ
eb 
2
κ
e 1+f
e

can easly obtaine from (2.21) and it gives us the following theorem.
Theorem 12. Let non-planar γ e be involute of a space curve γ then its spherical
image of binormal indicatrix is spherical helix if and only if evolute of γ is a slant
helix.
From (2.20), (2.22) and (2.23) we can obtaine the relation between Γ e and Γ eb
which is
−Γe0
(2.24) Γ
eb = q  3/2 .
e 1 + fe2 1 + Γ
κ e2

Thus we have the following theorem.

Theorem 13. Spherical image of binormal indicatrix γ
eb is a spherical slant helix
if and only if γ
e is a slant helix.
By using (2.3), (2.4), (2.6) and (2.21) we get the relation
0
−Γ
τb =
e p
κΓ 1 + f 2 (1 + Γ2 )
and we have the following theorem.
SPHERICAL INDICATRICES OF INVOLUTE OF A SPACE CURVE IN EUCLIDEAN 3-SPACE7

Theorem 14. Spherical image of binormal indicatrix γ

eb is circle if and only if γ
is a slant helix.
Corollary 2. There are the following equations between the Frenet vectors of the
spherical indicatrices of an involute curve in Euclidean 3-space.
Corollary 3. i. Tet = −Teb ,
ii. N
et = Ten = N
eb
iii. Bt = −Bb
e e

Theorem 15.
Theorem 16. Let α and β be two regular curves in E 3 .Then α and β are similar
curves with variable transformation if and only if the principal normal vectors are
the same for all curves
Nβ (sβ ) = Nα (sα )
under the particular variable transformation
dsβ κα
=
dsα κβ
of the arc-lengths.
We can give the following corollary by using this theorem.
Corollary 4. Let γ et and γ eb be two regular curves in E 3 .Then γ
et and γ
eb are sim-
ilar curves with variable transformation if and only if the principal normal vectors
are the same for all curves
et (s∗t ) = N
N eb (s∗b )
under the particular variable transformation
ds∗b κ
et
∗ =
dst κ
eb
of the arc-lengths.
Example 1. In [4], the general equation of spherical helix family is obtained by
Monterde which is,
 
1 1 1
αc (s) = cos (s) cos (ws) + sin (s) sin (ws) , − cos (s) sin (ws) + sin (s) cos (ws) , sin (s)
w w cw
√
2
where w = 1+c c , c ∈ IR − {0} .In [6], Kula et al. obtained the general equation
of a slant helix family similar to following
γ µ (s) = γ 1µ (s), γ 2µ (s), γ 3µ (s)

where
(w − 1) sin[(w + 1) t] (w + 1) sin[(w − 1) t]
γ 1µ (s) = +
2w (w + 1) 2w (w − 1)
(w + 1) cos[(w − 1) t] (w − 1) cos[(w + 1) t]
γ 2µ (s) = +
2w (w − 1) 2w (w + 1)
cos (s)
γ 3µ (s) = − .
µw
8 YILMAZ TUNÇER, SERPIL ÜNAL, AND MURAT KEMAL KARACAN

√ 2
1+µ
and w = µ , µ ∈ IR − {0} . By using the theorem 5, we can obtained the
general equation of general helix family in Euclidean 3-space according to the non-
zero constant µ as follows
 
γ
eµ (s∗ ) = γe1µ (s), γ
e2µ (s), γ
e3µ (s)
where
(c − s)
e1µ (s)
γ = {(w + 1) cos[(w − 1) t] + (w − 1) cos[(w + 1) t]}
2w
1 n
2 2
o
+ (w + 1) sin[(w − 1) t] + (w − 1) sin[(w + 1) t]
2w (w2 − 1)
− (c − s)
e2µ (s) =
γ {(w + 1) sin[(w − 1) t] + (w − 1) sin[(w + 1) t]}
2w
1 n
2 2
o
+ (w + 1) cos[(w − 1) t] + (w − 1) cos[(w + 1) t]
2w (w2 − 1)
(c − s) sin (s) − cos (s)
e3µ (s) =
γ
µw
√ 2
1+µ
and w = µ , µ ∈ IR − {0} , with the parametrization
√
ds µw 2
= r
ds∗ 2

(c − s) µ2 (w2 − 1) + 1 (cos (2t) + 1)

and the curvature and torsion of curve γ

eµ (s∗ ) is
√
2 −µ
κ
e= p , eτ= .
(c − s) (cos (2t) + 1) (c − s) cos (t)

Figure 1. Slant helix

References
[1] F. Wang and H. Liu, Mannheim Partner Curve in 3-Euclidean Space, Mat hematics in Practice
and Theory, 37 (2007) 141-143.
[2] H. Liu and F. Wang, Mannheim Partner Curve in 3-Space, Journal of Geometry, 88 2008
120-126.
SPHERICAL INDICATRICES OF INVOLUTE OF A SPACE CURVE IN EUCLIDEAN 3-SPACE9

Figure 2. General helix with c = −1, µ = ±1/4.

Figure 3. Tangent indicatrix of involute of a slant helix.

Figure 4. Principal normal indicatrix of involute of a slant helix.

Figure 5. Binormal indicatrix of involute of a slant helix.

[3] H. Matsuda and S. Yorozu, Notes on Bertrand Curves, Yokohama Math. J., 50 (2003) 41-58.
[4] J. Monterde,Curves with constant curvature ratios, Bol. Soc. Math. Mexicana (3) 13, no.1
(2007),177-186
10 YILMAZ TUNÇER, SERPIL ÜNAL, AND MURAT KEMAL KARACAN

[5] L. Kula and Y. Yayli, On slant helix and its spherical indicatrix, Applied Mathematics and
Computation, 169 (2005) 600-607.
[6] L. Kula, N. Ekmekci, Y. Yayli and K. İlarslan, Characterizations of slant Helices in Euclidean
3-Space, Turk J. Math. 34 (2010), 261-273.
[7] M.P. Carmo, Differential Geometry of Curves and Surfaces, Prentice-Hall, New Jersey 1976.
[8] S. Izumiya and N. Takeuchi, New Special Curves and Developable Surfaces, Turk. J. Math.,
28 (2004) 153-164.

(Yılmaz Tunçer, Serpil Ünal and Murat Kemal Karacan) Usak University, Science and
Arts Faculty, Department of Mathematics
E-mail address, Corresponding Author: yilmaz.tuncer@usak.edu.tr

E-mail address, Serpil Ünal: atwo@atwoinst.edu