Planar revolute-coupled kinematic chains in critical configurations and their duals

Abstract

The motivation for studies of dual coupling networks is explained, and a definition is suggested for duality. Dual couplings are defined and several couplings dual with the revolute coupling are described. Six linkages, instantaneously in a critical configuration, provide examples. The consequences of these critical configurations are explored for both the linkages and the coupling networks that are dual with them.

Keywords

Balance graph screw stability singularity uncertainty

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