... the linkage loses mobility (i.e., dead-center positions). 14 12 2004 12 10 2005 supports couplings duality (mathematics) mathematical operators duality equimomental lines equimomental line theorem face force dual Kennedy theorem dual Kennedy circle indeterminate mechanisms...

... serial and parallel manipulators. statics kinematics duality graph representations static pillar systems beams planetary gear trains serial robots platform-type robots unstable truss dead-center positions synthesis graph theory duality (mathematics) statics mechanical...

... duality arises clearly in this last procedure. matrix algebra duality (mathematics) graph theory robot kinematics This paper deals with the problems that over-constrained mechanisms raise: how to choose all the sets of indeterminable unknown forces in the joints and how to choose all...