Related papers: The Minkowskian planar 4R mechanism
A mechanical linkage is a mechanism made of rigid rods linked together by flexible joints, in which some vertices are fixed and others may move. The partial configuration space of a linkage is the set of all the possible positions of a…
A mechanical linkage is a mechanism made of rigid rods linked together by flexible joints, in which some vertices are fixed and others may move. The partial configuration space of a linkage is the set of all the possible positions of a…
We derive a minimal generating set of planar moves for diagrams of surfaces embedded in the four-space. These diagrams appear as the bonded classical unlink diagrams.
The configuration space of the mechanism of a planar robot is studied. We consider a robot which has $n$ arms such that each arm is of length 1+1 and has a rotational joint in the middle, and that the endpoint of the $k$-th arm is fixed to…
We extend linkage unfolding results from the well-studied case of polygonal linkages to the more general case of linkages of polygons. More precisely, we consider chains of nonoverlapping rigid planar shapes (Jordan regions) that are hinged…
The class of terminal planar networks was recently introduced from a biological perspective in relation to the visualization of phylogenetic networks, and its connection to upward planar networks has been established. We provide a…
A planar kinematic chain consists of $n$ links connected by joints. In this work we investigate the space of configurations, described in terms of joint angles, that guarantee that the kinematic chain is closed. We give explicit formulas…
A linkage is a finite graph with lengths assigned to each edge. A planar realization is a map to the plane which preserves edge lengths. It can be thought of as a mechanical device formed from stiff rods and rotating joints. We look at the…
Linkages are mechanical devices constructed from rigid bars and freely rotating joints studied both for their utility in engineering and as mathematical idealizations in a number of physical systems. Recently, there has been a resurgence of…
The geometry of 2D Minkowski spacetime $\mathbb{R}^{1,1}$ (or Minkowski plane) is similar but fundamentally different from the more familiar Euclidean plane geometry. This note gives an elementary discussion on some basic properties of a…
The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising for the creation of different types of…
A new way to define the notion of $\C$-orthocenter will be displayed by studying some propierties of four points in the plane which allows to extend the notion of Euler's line, the Six Point Circles and the three-circles theorem, for normed…
We prove that the set of non-degenerate second order maximally superintegrable systems in the complex Euclidean plane carries a natural structure of a projective variety, equipped with a linear isometry group action. This is done by…
We provide a complete classification of paradoxical closed-loop $n$-linkages, where $n\geq6$, of mobility $n-4$ or higher, containing revolute, prismatic or helical joints. We also explicitly write down strong necessary conditions for…
In this paper we introduce the systematic study of invariant functions and equivariant mappings defined on Minkowski space under the action of the Lorentz group. We adapt some known results from the orthogonal group acting on the Euclidean…
Valence two Killing tensors in the Euclidean and Minkowski planes are classified under the action of the group which preserves the type of the corresponding Killing web. The classification is based on an analysis of the system of…
We propose an algorithm generating planar networks which structure resembles a hierarchical structure of desiccation crack patterns.
Alexander's and Markov's theorems state that any link type in $R^3$ is represented by a closed braid and that such representations are related by some elementary operations called Markov moves. We generalize the notion of a braid to that in…
Given an Euclidean space, this paper elucidates the topological link between the partial derivatives of the Minkowski functional associated to a set (assumed to be compact, convex, with a differentiable boundary and a non-empty interior)…
This paper studies the configuration space of all possible positions of a linkage in R^n. For example, it shows that for every compact algebraic set, there is a linkage whose configuration space is analytically isomorphic to a finite number…