Related papers: A Classification of 6R Manipulators

We give explicit formulas for the ranks of the third and fourth homotopy groups of all oriented closed simply-connected four manifolds in terms of their second Betti numbers. We also show that the rational homotopy type of these manifolds…

In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new…

This paper presents the classification of digital n-manifolds based on the notion of complexity and homotopy equivalence. We introduce compressed n-manifolds and study their properties. We show that any n-manifold with p points is homotopy…

This paper presents a study of the characterization of the singular manifold of the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. We consider a platform with base vertices in a circle and for which the…

In this text we expose basic cases of some fundamental ideas and methods of topology. Namely, of homotopy, degree, fundamental group, covering, Whitehead invariant, etc. This is done by considering the elementary example: closed polygonal…

We prove affirmatively the conjecture raised by J. Mostovoy; the space of short ropes is weakly homotopy equivalent to the classifying space of the topological monoid (or category) of long knots in $\mathbb{R}^3$. We make use of techniques…

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced…

The Lusternik-Schnirelmann category $cat(X)$ is a homotopy invariant which is a numerical bound on the number of critical points of a smooth function on a manifold. Another similar invariant is the topological complexity $TC(X)$ (a la…

This paper corrects a small mistake in a paper of Dwyer-Kan, and uses this to identify homotopy function complexes in a model category with the nerves of certain categories of zig-zags.

This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since…

Let $M$ be a smooth, orientable, closed, connected $4$-manifold and suppose that $H_1(M;\mathbb{Z})$ is finitely generated and has no $2$-torsion. We give a homotopy decomposition of the suspension of $M$ in terms of spheres, Moore spaces…

We propose a new homotopy invariant for Lie groupoids which generalizes the classical Lusternik-Schnirelmann category for topological spaces. We use a bicategorical approach to develop a notion of contraction in this context. We propose a…

Let $G$ be a simply-connected simple compact Lie group and let $M$ be an orientable smooth closed 4-manifold. In this paper we calculate the homotopy type of the suspension of $M$ and the homotopy types of the gauge groups of principal…

The aim of this paper is to give an $s$-cobordism classification of topological $4$-manifolds in terms of the standard invariants using the group of homotopy self-equivalences. Hambleton and Kreck constructed a braid to study the group of…

This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…

Let $M$ be a simply connected spin manifold of dimension at least six which admits a metric of positive scalar curvature. We show that the observer moduli space of positive scalar curvature metrics on $M$ has non-trivial higher homotopy…

We present a method for computing the classification groups of topological insulators and superconductors in the presence of $\mathbb{Z}_2^{\times n}$ point group symmetries, for arbitrary natural numbers $n$. Each symmetry class is…

This paper presents a system integration approach for a 6-DoF (Degree of Freedom) collaborative robot to operate a pipette for liquid dispensing. Its technical development is threefold. First, we designed an end-effector for holding and…

We give a characterization of closed, simply connected, rationally elliptic 6-manifolds in terms of their rational cohomology rings and a partial classification of their real cohomology rings. We classify rational, real and complex homotopy…

The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…