Related papers: Singularity Analysis of Limited-dof Parallel Manip…
This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to…
Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path…
We construct parallel manipulators with one degree of freedom and admitting infinitely many legs lying on a curve of degree ten and genus six. Our technique relies upon a duality between the spaces parametrizing all the possible legs and…
This paper presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on expressing the dynamics of a class of linearly-actuated parallel…
We show that non-linear Schwarzian differential equations emerging from covariance symmetry conditions imposed on linear differential operators with hypergeometric function solutions, can be generalized to arbitrary order linear…
This work studies collections of Hilbert space operators which possess a strict monoid structure under composition. These collections can be thought of as discrete unital semigroups for which no subset of the collection is closed under…
The study of Cowen-Douglas operators not only involves traditional operator-theoretic tools but also concepts and results from complex geometry on holomorphic vector bundles. We make use of the ratio of the metric matrices first considered…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…
We study an inverse problem involving the unique recovery of several lower order anisotropic tensor perturbations of a polyharmonic operator in a bounded domain from the knowledge of the Dirichlet to Neumann map on a part of boundary. The…
Two types of mimetic gravity models with higher derivatives of the mimetic field are analyzed in the Hamiltonian formalism. For the first type of mimetic gravity, the Ricci scalar only couples to the mimetic field and we demonstrate the…
FRW cosmologies with conformally coupled scalar fields are investigated in a geometrical way by the means of geodesics of the Jacobi metric. In this model of dynamics, trajectories in the configuration space are represented by geodesics.…
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…
We control a broad class of singular (or "rough") Fourier multipliers by geometrically-defined maximal operators via general weighted $L^2(\mathbb{R})$ norm inequalities. The multipliers involved are related to those of Coifman--Rubio de…
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points…
This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is optimised. In many works, these simplified…
We study elliptic and parabolic problems governed by singular elliptic operators \begin{equation*} \mathcal L =\sum_{i,j=1}^{N+1}q_{ij}D_{ij}+\frac c y D_y \end{equation*} in the half-space $\mathbb{R}^{N+1}_+=\{(x,y): x \in \mathbb{R}^N,…
We investigate the structure of the constraints on three-point correlation functions emerging when conformal invariance is imposed in momentum space and in arbitrary space-time dimensions, presenting a derivation of their solutions for…
We establish a one-to-one correspondence between K\"ahler metrics in a given conformal class and parallel sections of a certain vector bundle with conformally invariant connection, where the parallel sections satisfy a set of non--linear…
It is known that many peculiar nonlinear vibration problems in impacting systems are caused by grazing incidences. Such bifurcation phenomena are normally investigated through the Poincare map. The discrete-time map of a simple impact…
This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their…