The kinematics of mechanism with split quaternions

The thesis, in which we examine the mechanism kinematics of split quaternions, consists of six chapters.In the first two chapters, the introduction and the literature review are involved and in the third chapter, the basic concepts are given with respect to the main purpose of the thesis study. In the fourth chapter, quaternion, unit quaternion corresponding to rotation, adjoint rotation operator and dual quaternion are given. In the fifth chapter, the definition of split quaternion is given and its properties are discussed. The kinematics of mechanism is explained by split quaternions and Matlab application is added. In the sixth chapter, results and discussion are given. Keywords: Rotation, Quaternion, Lorentzian space, Mechanism, Minkowski space, Split quaternion, Translation.