Related papers: Position Equations of a 3RPR Planar Manipulator
The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the…
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed the geometry of the workspace in the problem, by…
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…
The planar filament equation and its relation to the modified Korteweg-deVries equation are studied in the context of Poisson geometry. The structure of the planar filament equation is shown to be similar to that of the 3-D localized…
We investigate the superintegrability of rigid body rotors coupled to planar systems. In particular, we study the isotropic harmonic oscillator in two dimensions, with its (central) force acting on the rotor's center of mass constrained to…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
In engineering practice one often encounters planar problems, where the corresponding vector space of forces, velocities or (infinitesimal) displacements is three dimensional. This paper shows how these spaces can be factorized, such that…
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…
In this work, we study a mathematical planar pendulum whose support point is positioned equidistant between two vertical and uniformly electrically charged wires. Its bob carries an electric charge and, its support point oscillates…
In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are…
We discuss various representations of planar $p$-harmonic systems of equations and their solutions. For coordinate functions of $p$-harmonic maps we analyze signs of their Hessians, the Gauss curvature of $p$-harmonic surfaces, the length…
We propose a new basis of spin-operators, specific for the case of planar theories, which allows a Lagrangian decomposition into spin-parity components. The procedure enables us to discuss unitarity and spectral properties of gravity models…
Over the last decades, there has been a tremendous increase in research on extrasolar planets. Many exosolar systems, which consist of a Star and two inclined Planets, seem to be locked in 4/3, 3/2, 2/1, 5/2, 3/1 and 4/1 mean motion…
Inspired by the geometrical methods allowing the introduction of mechanical systems confined in the plane and endowed with exotic galilean symmetry, we resort to the Lagrange-Souriau 2-form formalism, in order to look for a wide class of 3D…
We investigate several topics of triangle geometry in the elliptic and in the extended hyperbolic plane, such as: centers based on orthogonality, centers related to circumcircles and incircles, radical centers and centers of similitude,…
It is known that parallel manipulators suffer from singular configurations. Evaluating the distance between a given configuration to the closest singular one is of interest for industrial applications (e.g.\ singularity-free path planning).…
Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number leads, under certain conditions, to…
The problem of finding an optimal curve for the target magnetic axis of a stellarator is addressed. Euler-Lagrange equations are derived for finite length three-dimensional curves that extremise their bending energy while yielding fixed…
Isotropic oscillator on a plane is discussed where both the coordinate and momentum space are considered to be noncommutative. We also discuss the symmetry properties of the oscillator for three separate cases when both the noncommutative…
The recently developed 3D graphic statics (3DGS) lacks a rigorous mathematical definition relating the geometrical and topological properties of the reciprocal polyhedral diagrams as well as a precise method for the geometric construction…