Related papers: Singularity Analysis of Lower-Mobility Parallel Ma…
In this paper, we introduce a novel parallel contact algorithm designed to run efficiently in High-Performance Computing based supercomputers. Particular emphasis is put on its computational implementation in a multiphysics finite element…
We study the spectral theory of a class of piecewise centrosymmetric Jacobi operators defined on an associated family of substitution graphs. Given a finite centrosymmetric matrix viewed as a weight matrix on a finite directed path graph…
For an arbitrary Hermitian period-$T$ Jacobi operator, we assume a perturbation by a Wigner-von Neumann type potential to devise subordinate solutions to the formal spectral equation for a (possibly infinite) real set, $S$, of the spectral…
This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since…
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which…
We reformulate the analysis of singularities of Feynman integrals in a way that can be practically applied to perturbative computations in the Standard Model in dimensional regularization. After highlighting issues in the textbook treatment…
In this article we use algebro-geometric tools to describe the structure of a superintegrable system. We study degenerate Neumann system with potential matrix that has some eigenvalues of multiplicity greater than one. We show that the…
We analyze the common four types of the finite-time singularities using a generic framework of the phase portrait geometric approach. This technique requires that the Friedmann system to be written as a one dimensional autonomous system. We…
Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space…
We study the standard tractor bundle and the standard cotractor bundle of an almost Grassmann structure: We provide explicit formulae for their splitting operators, first BGG operators as well as prolongation connections. We characterize…
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…
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between…
This paper proposes a new methodology for deriving a point-based dimensionally homogeneous Jacobian, intended for performance evaluation and optimization of parallel manipulators with mixed degrees of freedom. Optimal manipulator often rely…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in general case and allow obtaining the…
Causal fermion systems and Riemannian fermion systems are proposed as a framework for describing non-smooth geometries. In particular, this framework provides a setting for spinors on singular spaces. The underlying topological structures…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
In this article, we conduct a study of integral operators defined in terms of non-convolution type kernels with singularities of various degrees. The operators that fall within our scope of research include fractional integrals, fractional…
Multidimensional contractions of irreducible representations of the Cayley-Klein unitary algebras in the Gel'fand-Zetlin basis are considered. Contracted over different parameters, algebras can turn out to be isomorphic. In this case method…