Characterization of imbricate-ruled surfaces via rotation-minimizing Darboux frame in Minkowski 3-space ${\mathrm{E}}_1^3$

Using a common tangent vector field to a surface along a curve, in this study we discussed a new Darboux frame that we referred to as the rotation-minimizing Darboux frame (RMDF) in Minkowski 3-space. The parametric equation resulting from the RMDF frame for an imbricate-ruled surface was then provided. As a result, minimal (or maximal for timelike surfaces) ruled surfaces were derived, along with the necessary and sufficient criteria for imbricate-ruled surfaces to be developable. The surfaces also described the parameter curves of these surfaces' asymptotic, geodesic, and curvature lines. We also gave an example to emphasize the most significant results.