In this paper, a method has been proposed to analyze the planar architectures of serial and parallel manipulators, based on the duality associated with their interconnected kinematics. The interconnected kinematics states that model of one architecture can be derived from the kinematic model of the other, using screw theory approach. The performance of the initial and the derived manipulators was evaluated with three criteria: isotropy, maximum force transmission ratio and local transmission index. Without loss of generality, the serial manipulator derived from parallel has better isotropy, while the parallel manipulator derived from serial can be designed to have better force and power transmission.

中文翻译：

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基于螺旋理论的平面串联和并联机械手基于对偶性的互连运动学分析

在本文中，已经提出了一种方法，基于与它们相互关联的运动学相关的对偶性，来分析串行和并行机械手的平面架构。相互联系的运动学表明，可以使用螺旋理论方法从一种体系结构的运动模型中推导一种体系结构的模型。初始和派生机械手的性能通过三个标准进行评估：各向同性，最大力传递比和局部传递指数。在不失一般性的前提下，并联产生的串行机械手具有更好的各向同性，而串联产生的并行机械手可以设计成具有更好的力和动力传递。