![]() The basic geometric properties of this dual three-space representation of Study’s soma is developed and it is applied to the study of spatial motions and mechanisms. Study’s eight parameters are used to define the mapping of spatial kinematics into points of this projective dual three-space. Study’s soma is reviewed and it is shown that Euclidean geometry in three-space with spatial displacements as elements corresponds to elliptic geometry of points in a projective dual three-space. ![]() This paper studies mappings of spatial kinematics and the geometry for which a spatial displacement is an element.
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