Dual-quaternion on simple scissor-like elements

Abstract

Assembles of scissor-like elements have plenty of links and joints leading into complex kinematic analysis. By using dual-quaternions in this paper is presented a novel approach to deal with. Forward, inverse kinematics analysis is developed on simple scissor-like element assembles. Aiming to improve the computational efficiency, dual-quaternion exponentiation is applied too. The various steps to compute the work-space, by using an algorithm, are discussed. Finallly, a numerical example is presented where is applied this novel approach.