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

Abstract

Planar Revolute-Coupled Kinematic Chains in Critical Configurations and their DualsTrevor H. Davies * Luís Paulo Laus † 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.