Local Analysis of Closed-Loop Linkages: Mobility, Singularities, and Shakiness

2015 ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Tangent Cone ◽  
Local Approximation ◽  
Approximation Order ◽  
Local Analysis ◽  
Space Geometry ◽  
Geometric Entity ◽  
Best Local Approximation ◽  
Kinematic Singularities ◽  
General Configuration

The mobility of a linkage is determined by the constraints imposed on its members. The constraints define the configuration space (c-space) variety as the geometric entity in which the finite mobility of a linkage is encoded. The instantaneous motions are determined by the constraints, rather than by the c-space geometry. Shaky linkages are prominent examples that exhibit a higher instantaneous than finite DOF even in regular configurations. Inextricably connected to the mobility are kinematic singularities that are reflected in a change of the instantaneous DOF. The local analysis of a linkage, aiming at determining the instantaneous and finite mobility in a given configuration, hence needs to consider the c-space geometry as well as the constraint system. A method for the local analysis is presented based on a higher-order local approximation of the c-space adopting the concept of the tangent cone to a variety. The latter is the best local approximation of the c-space in a general configuration. It thus allows for investigating the mobility in regular as well as singular configurations. Therewith the c-space is locally represented as an algebraic variety whose degree is the necessary approximation order. In regular configurations the tangent cone is the tangent space. The method is generally applicable and computationally simple. It allows for a classification of linkages as overconstrained and underconstrained, and to identify singularities.

Local Kinematic Analysis of Closed-Loop Linkages—Mobility, Singularities, and Shakiness

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Kinematic Analysis ◽  
Regular Point ◽  
Geometric Constraints ◽  
Local Analysis ◽  
Kinematic Singularity ◽  
Space Geometry ◽  
Geometric Entity ◽  
Kinematic Singularities ◽  
Space Singularity

The mobility of a linkage is determined by the constraints imposed on its members. The geometric constraints define the configuration space (c-space) variety as the geometric entity in which the finite mobility of a linkage is encoded. The aim of a local kinematic analysis of a linkage is to deduce its finite mobility, in a given configuration, from the local c-space geometry. In this paper, a method for the local analysis is presented adopting the concept of the tangent cone to a variety. The latter is an algebraic variety approximating the c-space. It allows for investigating the mobility in regular as well as singular configurations. The instantaneous mobility is determined by the constraints, rather than by the c-space geometry. Shaky and underconstrained linkages are prominent examples that exhibit a permanently higher instantaneous than finite DOF even in regular configurations. Kinematic singularities, on the other hand, are reflected in a change of the instantaneous DOF. A c-space singularity as a kinematic singularity, but a kinematic singularity may be a regular point of the c-space. The presented method allows to identify c-space singularities. It also reveals the ith-order mobility and allows for a classification of linkages as overconstrained and underconstrained. The method is applicable to general multiloop linkages with lower pairs. It is computationally simple and only involves Lie brackets (screw products) of instantaneous joint screws. The paper also summarizes the relevant kinematic phenomena of linkages.

scholarly journals Conceptual Design of Schoenflies Motion Generators Based on the Wrench Graph

2013 ◽  
Author(s):  
Semaan Amine ◽  
Latifah Nurahmi ◽  
Philippe Wenger ◽  
Stéphane Caro
Keyword(s):  
Conceptual Design ◽  
Parallel Manipulator ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Design Stage ◽  
The Subject ◽  
Grassmann Geometry ◽  
Kinematic Singularities ◽  
General Configuration

The subject of this paper is about the conceptual design of parallel Schoenflies motion generators based on the wrench graph. By using screw theory and Grassmann geometry, some conditions on both the constraint and the actuation wrench systems are generated for the assembly of limbs of parallel Schoenflies motion generators, i.e., 3T1R parallel manipulators. Those conditions are somehow related to the kinematic singularities of the manipulators. Indeed, the parallel manipulator should not be in a constraint singularity in the starting configuration for a valid architecture, otherwise it cannot perform the required motion pattern. After satisfying the latter condition, the parallel manipulator should not be in an actuation singularity in a general configuration, otherwise the obtained parallel manipulator is permanently singular. Based on the assembly conditions, six types of wrench graphs are identified and correspond to six typical classes of 3T1R parallel manipulators. The geometric properties of these six classes are highlighted. A simplified expression of the superbracket decomposition is obtained for each class, which allows the determination and the comparison of the singularities of 3T1R parallel manipulators at their conceptual design stage. The methodology also provides new architectures of parallel Schoenflies motion generators based on the classification of wrench graphs and on their singularity conditions.

Higher-Order Local Analysis of Kinematic Singularities of Lower Pair Linkages

2017 ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Critical Points ◽  
Tangent Cone ◽  
Polynomial System ◽  
Computational Method ◽  
Local Analysis ◽  
Closed Form Expression ◽  
Local Geometry ◽  
Lower Pair ◽  
Kinematic Singularities ◽  
Derivatives Of

Kinematic singularities of linkages are configurations where the differential mobility changes. Constraint singularities are critical points of the constraint mapping defining the loop closure constraints. Configuration space (c-space) singularities are points where the c-space ceases to be a smooth manifold. These singularity types are not identical. C-space singularities are reflected by the c-space geometry. Identifying kinematic singularities amounts to locally analyze the set of critical points. The local geometry of the set of critical points is best approximated by its tangent cone (an algebraic variety). The latter is defined in this paper in a form that allows for its computational determination using the Jacobian minors. An explicit closed form expression for the derivatives of the minors is presented in terms of Lie brackets of joint screws. A computational method is proposed to determine a polynomial system defining the tangent cone. This finally allows for identifying c-space and kinematic singularities.

scholarly journals Parabolic limits of renormalization

2000 ◽  
Vol 20 (1) ◽  
pp. 173-229 ◽  
Author(s):  
BENJAMIN HINKLE
Keyword(s):  
Fixed Point ◽  
Period Doubling ◽  
Unit Interval ◽  
Local Analysis ◽  
Unimodal Maps ◽  
Unimodal Map ◽  
Combinatorial Description ◽  
Combinatorial Rigidity

A unimodal map $f:[0,1] \to [0,1]$ is renormalizable if there is a sub-interval $I \subset [0,1]$ and an $n > 1$ such that $f^n|_I$ is unimodal. The renormalization of $f$ is $f^n|_I$ rescaled to the unit interval.We extend the well-known classification of limits of renormalization of unimodal maps with bounded combinatorics to a classification of the limits of renormalization of unimodal maps with essentially bounded combinatorics. Together with results of Lyubich on the limits of renormalization with essentially unbounded combinatorics, this completes the combinatorial description of limits of renormalization. The techniques are based on the towers of McMullen and on the local analysis around perturbed parabolic points. We define a parabolic tower to be a sequence of unimodal maps related by renormalization or parabolic renormalization. We state and prove the combinatorial rigidity of bi-infinite parabolic towers with complex bounds and essentially bounded combinatorics, which implies the main theorem.As an example we construct a natural unbounded analogue of the period-doubling fixed point of renormalization, called the essentially period-tripling fixed point.

Weighted Best Local Approximation

2016 ◽  
Vol 32 (4) ◽  
pp. 355-372
Author(s):  
S. Favier and C. Ridolfi
Keyword(s):  
Local Approximation ◽  
Best Local Approximation

On certain types of isolated s-ple points on algebraic primals in Sd

1962 ◽  
Vol 58 (3) ◽  
pp. 465-475
Author(s):  
J. Herszberg
Keyword(s):  
Finite Number ◽  
Tangent Cone ◽  
Double Point ◽  
Complete Classification ◽  
Singular Points ◽  
Multiple Points ◽  
Rank Zero ◽  
Double Points

Singular points on irreducible primals were investigated briefly by C. Segre(8), where the author classified multiple points by the nature of the nodal tangent cone. For surfaces the problem of classification was investigated by, amongst others, Du Val(1) and a complete classification of isolated double points of surfaces lying on non-singular threefolds was given by Kirby(5). In (3) we classified certain types of double points on algebraic primals in Sn. An isolated double point which after a finite number of resolutions gave rise to at most a finite number of isolated double points was called a double point of rank zero. We found that the only isolated double points of rank zero are those which are analogous to the binodes, unodes and exceptional unodes (2) of surfaces.

Best Local Approximation in Orlicz Spaces

2011 ◽  
Vol 32 (11) ◽  
pp. 1127-1145 ◽  
Author(s):  
H. Cuenya ◽  
F. Levis ◽  
M. Marano ◽  
C. Ridolfi
Keyword(s):  
Orlicz Spaces ◽  
Local Approximation ◽  
Best Local Approximation
Sign in / Sign up

Export Citation Format

Share Document