Waldron, K. & Hunt, K.H. 1991, 'Series-parallel Dualities In Actively Coordinated Mechanisms', International Journal Of Robotics Research, vol. 10, no. 5, pp. 473-480.
View/Download from: Publisher's site
A deep symmetry between serial chain manipulators and fully parallel systems such as the Stewart platform is demonstrated. This symmetry is shown to be a result of the well-known duality of motion screw axes and wrenches. The appearance of the inverse