Breaking Down a Helix Curve into a Series of Small Lines

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We know that equation of a helix that propagates along z axis is - X = Rcost, Y=R Sint, Z = at. If we vary the t and plot points, entire helix will be created.

However imagine one wants to assemble tiny lines one after another such a way that they put together, creates the helix approximately. We thought of an approach here - 1) Take two points in helix carve - a. (X,Y,Z) on above equation for time = t, b. (X,Y,Z) on above equation for time = (t + t1).

2) Try to figure out the (angle, axis) pair between two lines using this link.

3) Rotate small lines in 3D space along this (angle,axis) pair and create an series of lines for the helix.

However, this approach isn't working right - we tried checking the equations, but they seem right.

Is there a better approach to find the alignment of these lines along a Helix curve.

Any help is much appreciated!...

Regards.