Rational two-parameter families of spheres and rational offset surfaces

The present paper investigates two-parameter families of spheres in R³${\mathbb{R}}^3$ and their corresponding two-dimensional surfaces Φ$\Phi$ in R⁴${\mathbb{R}}^4$. Considering a rational surface Φ$\Phi$ in R⁴${\mathbb{R}}^4$, the envelope surface Ψ$\Psi$ of the corresponding family of spheres in R³${\mathbb{R}}^3$ is typically non-rational. Using a classical sphere-geometric approach, we prove that the envelope surface Ψ$\Psi$ and its offset surfaces admit rational parameterizations if and only if Φ$\Phi$ is a rational sub-variety of a rational isotropic hyper-surface in R⁴${\mathbb{R}}^4$. The close relation between the envelope surfaces Ψ$\Psi$ and rational offset surfaces in R³${\mathbb{R}}^3$ is elaborated in detail. This connection leads to explicit rational parameterizations for all rational surfaces Φ$\Phi$ in R⁴${\mathbb{R}}^4$ whose corresponding two-parameter families of spheres possess envelope surfaces admitting rational parameterizations. Finally we discuss several classes of surfaces sharing this property.