Related papers: A Workspace based Classification of 3R Orthogonal …
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects…
This expository article describes applications of topological configuration spaces to the control of robotic systems. In particular, we review recent work by the authors on configuration spaces of graphs. These are lovely spaces: we show…
Non-trivial spatial topology of the Universe may give rise to potentially measurable signatures in the cosmic microwave background. We explore different machine learning approaches to classify harmonic-space realizations of the microwave…
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which…
Covering-based rough set theory is a useful tool to deal with inexact, uncertain or vague knowledge in information systems. Topology, one of the most important subjects in mathematics, provides mathematical tools and interesting topics in…
We classify the finite groups of orthogonal transformations in 4-space, and we study these groups from the viewpoint of their geometric action, using polar orbit polytopes. For one type of groups (the toroidal groups), we develop a new…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for…
We classify rotational surfaces in a normed 3-space with rotationally symmetric norm whose principal curvatures satisfy a linear relation.
We explore the structure of the space of quasisymmetric configurations identifying them by their magnetic axes, described as 3D closed curves. We demonstrate that this topological perspective divides the space of all configurations into…
In many areas of applied geometric/numeric computational mathematics, including geo-mapping, computer vision, computer graphics, finite element analysis, medical imaging, geometric design, and solid modeling, one has to compute incidences,…
In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new…
Given a complex, separable Hilbert space $\mathcal{H}$, we characterize those operators for which $\| P T (I-P) \| = \| (I-P) T P \|$ for all orthogonal projections $P$ on $\mathcal{H}$. When $\mathcal{H}$ is finite-dimensional, we also…
The class of 2-D nonseparable geometrically anisotropic localisation operators is defined, containing highly anisotropic nearly unidirectional localisation operators, as well as isotropic localisation operators. A continuum of anisotropic…
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…
This article gives the construction and complete classification of all three-dimensional spherical manifolds, and orders them by decreasing volume, in the context of multiconnected universe models with positive spatial curvature. It…
A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced…
Rotation representations are foundational in fields such as computer graphics, robotics, and machine learning, where precise and efficient modeling of 3D orientations is critical. This paper comprehensively investigates diverse…