Circular evolutes and involutes of spacelike framed curves and their duality relations in Minkowski 3-space

In the present paper, we defined the circular evolutes and involutes for a given spacelike framed curve with respect to Bishop directions in Minkowski 3-space. Then, we studied the essential duality relations among parallel curves, normal surfaces, and circular evolutes and involutes. Furthermore, we also studied the duality relations of their singularities. Based on these studies, we found that it is crucially important to consider the duality relations among different geometric objects for the research of submanifolds with singularities.