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Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using…
The Einstein/Abelian-Yang-Mills Equations reduce in the stationary and axially symmetric case to a harmonic map with prescribed singularities $\p\colon\R^3\sm\Sigma\to\H^{k+1}_\C$ into the $(k+1)$-dimensional complex hyperbolic space. In…
We study a class of oscillatory hypersingular integral operators associated to a radial hypersurface of the form $\Gamma(t)=(t,\varphi(t)), t\in\R{n}$. When $\varphi$ satisfies suitable curvature and monotonicity conditions, we prove…
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…
We study ruled submanifolds of Euclidean space. First, to each (parametrized) ruled submanifold $\sigma$, we associate an integer-valued function, called degree, measuring the extent to which $\sigma$ fails to be cylindrical. In particular,…
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which…
Manifolds occur naturally as configuration spaces of robotic systems. They provide global descriptions of local coordinate systems that are common tools in expressing positions of robots. The purpose of this survey is threefold. Firstly, we…
We prove that the set of singular configurations of a general Gough Stewart platform has a rational parametrization. We introduce a reciprocal twist mapping which, for a general orientation of the platform, realizes the cubic surface of…
We construct parallel manipulators with one degree of freedom and admitting infinitely many legs lying on a curve of degree ten and genus six. Our technique relies upon a duality between the spaces parametrizing all the possible legs and…
Huang's Lemma is an important tool in CR geometry to study rigidity problems. This paper introduces a generalization of Huang's Lemma based on the rigidity properties of holomorphic mappings preserving certain orthogonality on projective…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
In the author's earlier work there appeared a new way to specify any smooth closed 4-manifold by a surface diagram, which consists of an orientable surface decorated with simple closed curves. These curves are cyclically indexed, and each…
We show that for a very general class of curvature functions defined in the positive cone, the problem of finding a complete strictly locally convex hypersurface in $H^n+1$ satisfying $f(\kappa)=\sigma\in(0, 1)$ with a prescribed asymptotic…
Let $\tau$ be an $n$-simplex and let $g$ be a metric on $\tau$ with constant curvature $\kappa$. The lengths that $g$ assigns to the edges of $\tau$, along with the value of $\kappa$, uniquely determine all of the geometry of $(\tau, g)$.…
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…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
A 7-manifold with G_2 holonomy can be constructed as a R^3 bundle over a quaternionic space. We consider a quaternionic base space which is singular and its metric depends on three parameters, where one of them corresponds to an…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
In this article, we study symmetric $(v, k, \lambda)$ designs admitting a flag-transitive and point-primitive automorphism group $G$ whose socle is $PSU_{4}(q)$. We prove that there exist eight non-isomorphic such designs for which…
Most of the quadrupeds developed are highly actuated, and their control is hence quite cumbersome. They need advanced electronics equipment to solve convoluted inverse kinematic equations continuously. In addition, they demand special and…