Related papers: The Kinematic Image of RR, PR, and RP Dyads
We characterise the kinematic image of the constraint variety of a 2R dyad as a regular ruled quadric in a 3-space that contains a "null quadrilateral". Three prescribed poses determine, in general, two such quadrics. This allows us to…
We study an isomorphism between the group of rigid body displacements and the group of dual quaternions modulo the dual number multiplicative group from the viewpoint of differential geometry in a projective space over the dual numbers.…
We introduce the Study variety of conformal kinematics and investigate some of its properties. The Study variety is a projective variety of dimension ten and degree twelve in real projective space of dimension 15, and it generalizes the…
Continuum parallel robots (CPR) combine rigid actuation mechanisms with multiple elastic rods in a closed-loop topology, making forward statics challenging when rigid--continuum junctions are enforced by explicit kinematic constraints. Such…
Objects' rigid motions in 3D space are described by rotations and translations of a highly-correlated set of points, each with associated $x,y,z$ coordinates that real-valued networks consider as separate entities, losing information.…
In this paper, we propose relative projective differential invariants (RPDIs) which are invariant to general projective transformations. By using RPDIs and the structural frame of integral invariant, projective weighted moment invariants…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…
Robotic manipulators, traditionally designed with classical joint-link articulated structures, excel in industrial applications but face challenges in human-centered and general-purpose tasks requiring greater dexterity and adaptability. To…
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually…
In this Letter we suggest a method of convex rigid frames in the studies of the multipartite quNit pure-states. We illustrate what are the convex rigid frames and what is the method of convex rigid frames. As the applications we use this…
We classify fibrations by integral plane projective rational quartic curves whose generic fibre is regular but admits a non-smooth point that is a canonical divisor. These fibrations can only exist in characteristic two. The geometric…
We study the congruence of bitangent lines of an irreducible surface in the 3-dimensional projective space in arbitrary characteristic, with special attention to quartic surfaces with rational double points and, in particular, Kummer…
We set up a geometrical theory for the study of the dynamics of reducible Pisot substitutions. It is based on certain Rauzy fractals generated by duals of higher dimensional extensions of substitutions. We obtain under certain hypotheses…
The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On…
The main objective of this article is part of a research program to link the dynamics of fluid flows with the structure and its transitions in the physical spaces. As a prototype of problem and to demonstrate the main ideas, we study the…
In this paper, we study a wheeled robot with a prismatic extension joint. This allows the robot to build up momentum to perform jumps over obstacles and to swing up to the upright position after the loss of balance. We propose a template…
We introduce a new class of triangulated categories, which are Verdier quotients of three-Calabi-Yau categories from (decorated) marked surfaces, and show that its spaces of stability conditions can be identified with moduli spaces of…
The Courant-Snyder theory for two-dimensional coupled linear optics is presented, based on the systematic use of the real representation of the Dirac matrices. Since any real $4\times 4$-matrix can be expressed as a linear combination of…
Integrable two-dimensional models which possess an integral of motion cubic or quartic in velocities are governed by a single prepotential, which obeys a nonlinear partial differential equation. Taking into account the latter's invariance…
This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a…