Related papers: Universality theorems for linkages in homogeneous …
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 prove realizability theorems for vector-valued polynomial mappings, real-algebraic sets and compact smooth manifolds by moduli spaces of planar linkages. We also establish a relation between universality theorems for moduli spaces of…
Planar linkages are a rich area of study motivated by practical applications in engineering mechanisms. A central result is Kempe's Universality Theorem, which states that semi-algebraic sets can be realized by planar linkages. Polyhedral…
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…
The configuration space of a mechanical linkage, consisting of rigid bodies moving in space constrained by joints, is defined by algebraic conditions. If these equations do not define a complete intersection, then the dimension of 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 geometric, topological, and symplectic properties of moduli spaces (spaces of configurations modulo rotations and translations) of polygonal linkages have been studied by Kapovich, Millson, and Kamiyama, et. al. One can form a polygonal…
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…
A Minkowski class is a closed subset of the space of convex bodies in Euclidean space Rn which is closed under Minkowski addition and non-negative dilatations. A convex body in Rn is universal if the expansion of its support function in…
A linkage mechanism consists of rigid bodies assembled by joints which can be used to translate and transfer motion from one form in one place to another. In this paper, we are particularly interested in a family of spacial linkage…
It is proved that the isometry classes of pointed connected complete Riemannian $n$-manifolds form a Polish space, $\mathcal{M}_*^\infty(n)$, with the topology described by the $C^\infty$ convergence of manifolds. This space has a canonical…
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)…
A $configuration$ of a linkage $\Gamma$ is a possible positioning of $\Gamma$ in $\mathbb{R}^d$ and the collection of all such forms the configuration space $\mathcal{C}(\Gamma)$ of $\Gamma$. We here introduce the notion of the $symmetric…
In a non-compact setting, the notion of hyperbolicity, and the associated structure of stable and unstable manifolds (for unbounded orbits), is highly dependent on the choice of metric used to define it. We consider the simplest version of…
We provide a rigorous construction of I.M. Singer's universal connection, a natural connection on a bundle of paths associated to any manifold, using the theory of diffeology. Furthermore, we generalize the universal connection to the…
In this paper it is shown that the structure of the configuration space of any continua is what is called in differential geometry a {\it principle bundle} \cite{Frankel2011ThePhysics}. A principal bundle is a structure in which all points…
In the Minkowski space, we consider a compact, spacelike hypersurface with boundary, which can be written as a graph on a spacelike hyperplane. We prove that, if its $k$-th mean curvature is constant, and its boundary is on the hyperplane…
Denote by $M(P)$ the configuration space of a planar polygonal linkage, that is, the space of all possible planar configurations modulo congruences, including configurations with self-intersections. A particular interest attracts its subset…
We prove a structure theorem for compact aspherical Lorentz manifolds with abundant local symmetry. If M is a compact, aspherical, real-analytic, complete Lorentz manifold such that the isometry group of the universal cover has semisimple…
We show that any compact connected semialgebraic set is the projection of a connected component of the configuration space of a linkage.