Related papers: Planar Linkages and Algebraic Sets
A linkage $\mathcal{L}$ consists of a graph $G=(V,E)$ and an edge-length function $\ell$. Deciding whether $\mathcal{L}$ can be realized as a planar straight-line embedding in $\mathbb{R}^2$ with edge length $\ell(e)$ for all $e \in E$ is…
This paper studies the configuration space of all possible positions of a linkage in R^n. For example, it shows that for every compact algebraic set, there is a linkage whose configuration space is analytically isomorphic to a finite number…
We study spaces of realisations of linkages (weighted graphs) whose underlying graph is a series parallel graph. In particular, we describe an algorithm for determining whether or not such spaces are connected.
A mechanical linkage is a mechanism made of rigid rods linked together by flexible joints, in which some vertices are fixed and others may move. The partial configuration space of a linkage is the set of all the possible positions of a…
A $configuration$ of a linkage $\Gamma$ is a possible positioning of $\Gamma$ in $\mathbb{R}^d$ and the collection of all such forms the configuration space $\mathcal{C}(\Gamma)$ of $\Gamma$. We here introduce the notion of the $symmetric…
A minimally rigid graph, also called Laman graph, models a planar framework which is rigid for a general choice of distances between its vertices. In other words, there are finitely many ways, up to isometries, to realize such a graph in…
Linkages are mechanical devices constructed from rigid bars and freely rotating joints studied both for their utility in engineering and as mathematical idealizations in a number of physical systems. Recently, there has been a resurgence of…
A one-degree-of-freedom graph is a graph obtained from a minimally rigid graph in the plane and removing an edge. For such graph, the set of realisations with fixed edge length, modulo rotations and reflections, is an algebraic curve. The…
We show that any compact connected semialgebraic set is the projection of a connected component of the configuration space of a linkage.
Linear Geometry describes geometric properties that depend on the fundamental notion of a line. In this paper we survey basic notions and results of Linear Geomery that depend on the flat hulls: flats, exchange, rank, regularity,…
Laman graphs model planar frameworks that are rigid for a general choice of distances between the vertices. There are finitely many ways, up to isometries, to realize a Laman graph in the plane. Such realizations can be seen as solutions of…
A graph is a data structure composed of dots (i.e. vertices) and lines (i.e. edges). The dots and lines of a graph can be organized into intricate arrangements. The ability for a graph to denote objects and their relationships to one…
A mechanical linkage is a mechanism made of rigid rods linked together by flexible joints, in which some vertices are fixed and others may move. The partial configuration space of a linkage is the set of all the possible positions of a…
This note is a complete library of symbolic parametrized expressions for both real and complexified configuration spaces of a planar 4-bar linkage. Building upon the previous work from Izmestiev (2015), this library expands on the…
A general definition of a linear connection in noncommutative geometry has been recently proposed. Two examples are given of linear connections in noncommutative geometries which are based on matrix algebras. They both possess a unique…
A calligraph is a graph that for almost all edge length assignments moves with one degree of freedom in the plane, if we fix an edge and consider the vertices as revolute joints. The trajectory of a distinguished vertex of the calligraph is…
In this paper we show that every finite spatial graph is a connected sum of a planar graph, which is a forest, i.e. disjoint union of finite number of trees and a tangle. As a consequence we get that any finite spatial graph is a connected…
The construction of a linear connection on a pullback bundle from a connection on a vector bundle is explained in terms of fiberwise linear approximation. This procedure clarifies the geometric meaning of the linearized connection as well…
We investigate several topological and combinatorial properties of line arrangements. We associate to a line arrangement a link obtained by intersecting the arrangement with some sphere. Several topics are discussed: (a) some link…
A linear connection is associated to a nonlinear connection on a vector bundle by a linearization procedure. Our definition is intrinsic in terms of vector fields on the bundle. For a connection on an affine bundle our procedure can be…