Related papers: A Classification of 6R Manipulators

A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The…

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the…

Let $M$ be a closed, oriented, simply connected 6-manifold. After localization away from 2, we give a homotopy decomposition of $\Sigma M$ in terms of spheres, Moore spaces and other recognizable spaces. As applications we calculate…

We establish the stable homotopy classification of elliptic pseudodifferential operators on manifolds with corners and show that the set of elliptic operators modulo stable homotopy is isomorphic to the K-homology group of some stratified…

We give a criterion on a group $\pi$ and a homomorphism $w \colon \pi \to C_2$ under which closed $4$-manifolds with fundamental group $\pi$ and orientation character $w$ are classified up to homotopy equivalence by their quadratic…

Let a torus act on a compact oriented manifold $M$ with isolated fixed points, with an additional mild assumption that its isotropy submanifolds are orientable. We associate a signed labeled multigraph encoding the fixed point data (weights…

A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined…

Let $M_1$ and $M_2$ be closed connected orientable $3$-manifolds. We classify the sets of smooth and piecewise linear isotopy classes of embeddings $M_1\sqcup M_2\rightarrow S^6$.

We obtain a classification of elliptic operators modulo stable homotopy on manifolds with edges (this is in some sense the simplest class of manifolds with nonisolated singularities). We show that the operators are classified by the…

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The…

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a…

We show that the homotopy type of a finite oriented Poincar\'{e} 4-complex is determined by its quadratic 2-type provided its fundamental group is finite and has a dihedral Sylow 2-subgroup. By combining with results of Hambleton-Kreck and…

Let $Y$ be a pointed space and let $\mathcal E(Y^r)$ be the group of based self-equivalences of $Y^r$, $r\geq 2$. For $Y$ a homotopy commutative $H$-group we construct a subgroup $\mathcal E_{\mathrm{Mat}}(Y^r)$ of $\mathcal E(Y^r)$ which…

We show that for an oriented 4-dimensional Poincar\'e complex with finite fundamental group, whose 2-Sylow subgroup is abelian with at most 2 generators, the homotopy type is determined by its quadratic 2-type.

We show that closed, connected 4-manifolds up to connected sum with copies of the complex projective plane are classified in terms of the fundamental group, the orientation character and an extension class involving the second homotopy…

We give a new description of Rosenthal's generalized homotopy fixed point spaces as homotopy limits over the orbit category. This is achieved using a simple categorical model for classifying spaces with respect to families of subgroups.

A U(n)-manifold is multiaxial if the isotropy groups are always conjugate to unitary subgroups. The classification and the concordance of such manifolds have been studied by Davis, Hsiang and Morgan under much more strict conditions. We…

For a simply connected closed orientable manifold of dimension $6$, we show its homotopy decomposition after double suspension. This allows us to determine its $K$- and $KO$-groups easily. Moreover, for a special case we refine the…

We analyze a class of mixed type generalized Kimura operators on 2-dimensional compact manifolds with corners that find applications in the analysis of topological insulators. We model the operator and provide the degenerate H\"older…

Various 6-degree-of-freedom (DOF) and 7-DOF manipulators have been developed to date. Over a long history, their joint configurations and link length ratios have been determined empirically. In recent years, the development of robotic…