Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual vectors and matrices
This paper presents an application of dual numbers, vectors and matrix theory to the analysis of parallel and hybrid mnipulators. The general mathematical models are constructed for extremal values of the dual norm of twists, which leads to an eigenproblem. Based on this eigenproblem, the singularities of principal twists are discussed in terms of loss and gain kinds of singularities. Two examples illustrate the procedure.
scientific article; zbMATH DE number 2119165