Davies, T.H. Laus, L.P. Planar revolute-coupled kinematic chains in critical configurations and their duals 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. Balance;Graph;Screw;Stability;Singularity;Uncertainty;Mechanical Engineering not elsewhere classified;Mechanical Engineering 2015-01-06
    https://repository.lboro.ac.uk/articles/journal_contribution/Planar_revolute-coupled_kinematic_chains_in_critical_configurations_and_their_duals/9561716