Abstract
In this paper the statics and the instantaneous kinematics of serial and parallel robot manipulators are studied. A projective interpretation of the concepts of twist, wrench, twist space and wrench space — based on the concept of extensor — is presented and a description of the dualistic relation between twist and wrench spaces of serial and parallel robot manipulators is given in terms of the Grassmann-Cayley algebra. The importance of this algebra is that its join and meet operators are very effective tools for joining and intersecting the linear subspaces involved in the kinestatic analysis of manipulators when they are represented by extensors.
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