Related papers: Classification of higher Mobility closed-loop Link…
In this paper, we introduce a method that allows to produce necessary conditions on the Denavit--Hartenberg parameters for the mobility of a closed linkage with six rotational joints. We use it to prove that the genus of the configuration…
Methods from algebra and algebraic geometry have been used in various ways to study linkages in kinematics. These methods have failed so far for the study of linkages with helical joints (joints with screw motion), because of the presence…
In this paper, we consider a special kind of overconstrained 6R closed linkages which we call angle-symmetric 6R linkages. These are linkages with the property that the rotation angles are equal for each of the three pairs of opposite…
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…
While paradoxical linkages famously violate the Chebyshev-Grubler-Kutzbach criterion by exhibiting unexpected mobility, we identify an opposing phenomenon: a class of linkages that appear mobile according to the same criterion, yet are 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…
The complete classification of hexapods - also known as Stewart Gough platforms - of mobility one is still open. To tackle this problem, we can associate to each hexapod of mobility one an algebraic curve, called the configuration curve. In…
A closed 6R linkage is generically rigid. Special cases may be mobile. Many families of mobile 6R linkages have been characterised in terms of the invariant Denavit-Hartenberg parameters of the linkage. In other words, many sufficient…
A motion of a mechanism is a curve in its configuration space (c-space). Singularities of the c-space are kinematic singularities of the mechanism. Any mobility analysis of a particular mechanism amounts to investigating the c-space…
We discuss physical systems with topologies more complicated than simple gaussian linking. Our examples of these higher topologies are in non-relativistic quantum mechanics and in QCD.
Many researchers tried to understand/explain the geometric reasons for paradoxical mobility of a mechanical linkage, i.e. the situation when a linkage allows more motions than expected from counting parameters and constraints. Bond theory…
We introduce a new method for computing triply graded link homology, which is particularly well-adapted to torus links. Our main application is to the (n,n)-torus links, for which we give an exact answer for all n. In several cases, our…
We introduce Loop Ranking, a new ranking measure based on the detection of closed paths, which can be computed in an efficient way. We analyze it with respect to several ranking measures which have been proposed in the past, and are widely…
In this article, we will construct an overconstrained closed-loop linkage consisting of four revolute and one cylindrical joint. It is obtained by factorization of a prescribed vertical Darboux motion. We will investigate the kinematic…
We prove the Categorified Wrapping Number Conjecture for large classes of annular links, including alternating annular links and tangle closures exhibiting plumbed link phenomena. We do so by characterizing when a resolution is sufficient…
Two string links are equivalent up to $2n$-moves and link-homotopy if and only if their all Milnor link-homotopy invariants are congruent modulo $n$. Moreover, the set of the equivalence classes forms a finite group generated by elements of…
Using numerical simulations of the full nonlinear equations of motion we investigate topological solitons of a modified O(3) sigma model in three space dimensions, in which the solitons are stabilized by the Hopf charge. We find that for…
We focus on the geometrical reformulation of free higher spin supermultiplets in $4\rm{D},~\mathcal{N}=1$ flat superspace. We find that there is a de Wit-Freedman like hierarchy of superconnections with simple gauge transformations. The…
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…
Define the complete n-complex on N vertices to be the n-skeleton of an (N-1)-simplex. We show that embeddings of sufficiently large complete n-complexes in R^{2n+1} necessarily exhibit complicated linking behaviour, thereby extending known…