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A new insight into the duality between serial and parallel non-redundant and redundant manipulators

This paper describes detailed velocity kinematics and the statics of serial and parallel robots. Without resorting to the screw theory, the duality between these two types of robots is demonstrated. This duality concerns operational speeds of serial robots and operational forces of parallel robots, as well as internal speeds in redundant serial robots and internal forces in redundant parallel robots. This approach allows a deeper understanding of the duality between these two types of robots, particularly when they are redundant.