Dual-quaternion on simple scissor-like elements

  • Juan G. GrijalvaEmail author
  • Edson R. De Pieri
  • Daniel Martins
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


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.


computational kinematics dual-quaternion scissor-like element 


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This research was supported by the Ecuadorian Council of Science Technology and Innovation (SENESCYT) and by the Coordination for the Improvement of Higher Education Personne (CAPES).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Juan G. Grijalva
    • 1
    Email author
  • Edson R. De Pieri
    • 2
  • Daniel Martins
    • 2
  1. 1.Control and Automation Laboratory (LCA-DAS), Department of Automation and SystemsFederal University of Santa CatarinaFlorianopolisBrazil
  2. 2.Department of Mechanical EngineeringRaul Guenther Robotics Laboratory (LRRG-EMC)FlorianopolisBrazil

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