Related papers: Position Equations of a 3RPR Planar Manipulator
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…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
The aim of this paper is to numerically investigate the orbital dynamics of the circular planar restricted problem of five bodies. By numerically integrating several large sets of initial conditions of orbits we classify them into three…
We investigate the resonant states for the parabolic potential barrier known also as inverted or reversed oscillator. They correspond to the poles of meromorphic continuation of the resolvent operator to the complex energy plane. As a…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
The plane wave solutions of the three-wave resonant interaction in the plane are considered. It is shown that rank-one constraints over the right derivatives of invertible operators on an arbitrary linear space gives solutions of the…
This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises when the three input joint variables r1,…
Planar spin-transfer devices with dominating easy-plane anisotropy can be described by an effective one-dimensional equation for the in-plane angle. Such a description provides an intuitive qualitative understanding of the magnetic…
A special form of the isotropic metric in cylindrical coordinates is used to construct what may be interpreted as the General Relativistic versions of some wellknown potential-density pairs used in Newtonian gravity to model…
This study investigates the complex nonlinear coupling of magnetic gears arranged in proximity on a plane. Acknowledging the rich array of geometric and electromagnetic parameters involved, we initiate our exploration with a simplified…
This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel…
In this paper, we analyze the planar cubic Alternative curve to determine the conditions for convex, loops, cusps and inflection points. Thus cubic curve is represented by linear combination of three control points and basis function that…
The parabolic functions are introduced in analogy to the circular and hyperbolic cases. We discuss the relevant properties, the geometrical interpretation and touch on possible generalizations and their link with the modular elliptic…
We present a mathematically rigorous quantum-mechanical treatment of a two-dimensional nonrelativistic quantum dual theories (with oscillator and Coulomb like potentials) on a plane and compare their spectra and the sets of eigenfunctions.…
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…
The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair…
The geometry of rotations in dimensions 3, 4, and 5 is discussed using the matrix exponential map. Explicit closed formulas for the exponential of an antisymmetric matrix, as well as the logarithm of a rotation, are given for these…
In this article, we give the most genaral form of the quaternions algebra depending on 3-parameters. We define 3-parameter generalized quaternions (3PGQs) and study on various properties and applications. Firstly we present the definiton,…
We derive the loop equation for the 1-matrix model with generic difference-type measure for eigenvalues and develop a recursive algebraic framework for solving it to an arbitrary order in the coupling constant in and beyond the planar…
Conventionally while we talk about geometry associated with a simple harmonic oscillator, we draw a circle with a radius equal to the amplitude of Oscillator and imagine a particle moving along the perimeter with a frequency same as that of…