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.

Higher-Order Analysis of Kinematic Singularities of Lower Pair Linkages and Serial Manipulators

2017 ◽  
Vol 10 (1) ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Critical Points ◽  
Tangent Cone ◽  
Polynomial System ◽  
Higher Order ◽  
Computational Method ◽  
Local Geometry ◽  
Serial Manipulators ◽  
Order Analysis ◽  
Forward Kinematic ◽  
Kinematic Singularities

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 and can neither be distinguished nor identified by simply investigating the rank deficiency of the constraint Jacobian (linear dependence of joint screws). C-space singularities are reflected by the c-space geometry. In a previous work, a kinematic tangent cone was introduced as an approximation of the c-space, defined as the set of tangents to smooth curves in c-space. Identification of kinematic singularities amounts to analyze the local geometry of the set of critical points. As a computational means, a kinematic tangent cone to the set of critical points is introduced in terms of Jacobian minors. Closed form expressions for the derivatives of the minors in terms of Lie brackets of joint screws are presented. A computational method is introduced to determine a polynomial system defining the kinematic tangent cone. The paper complements the recently proposed mobility analysis using the tangent cone to the c-space. This allows for identifying c-space and kinematic singularities as long as the solution set of the constraints is a real variety. The introduced approach is directly applicable to the higher-order analysis of forward kinematic singularities of serial manipulators. This is briefly addressed in the paper.

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.

A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages

2018 ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Configuration Space ◽  
Global Analysis ◽  
Polynomial System ◽  
Past Research ◽  
Local Approximation ◽  
Higher Order ◽  
Local Analysis ◽  
Local Geometry ◽  
Universal Method ◽  
Set Of Points

The determination of the finite mobility of a linkage boils down to the analysis of its configuration space (c-space). Since a global analysis is not feasible in general (but only for particular cases), the research focused on methods for a local analysis. Past research has in particular addressed the approximation of finite curves in c-space (i.e. finite motions). No universal method for the approximation of the c-space itself has been reported. In this paper a generally applicable formulation of the equations defining the higher-order local approximation of the c-space as well as the set of points where the Jacobian has a certain rank are presented. To this end, algebraic formulations of the higher-order differential of the constraint mapping (defining the loop closure) and of the Jacobian minors of arbitrary order are introduced. The respective local approximation is therewith given in terms of a low-order polynomial system. Results are shown for a simple planar 4-bar linkage and a planar three-loop linkage. Since the latter exhibits a cusp singularity it cannot be treated by the local analysis methods proposed thus far, which are based on approximating finite curves.

A Screw Approach to the Approximation of the Local Geometry of the Configuration Space and of the Set of Configurations of Certain Rank of Lower Pair Linkages

2019 ◽  
Vol 11 (2) ◽  
Author(s):  
Andreas Müller
Keyword(s):  
Configuration Space ◽  
Taylor Series Expansion ◽  
Past Research ◽  
Local Approximation ◽  
Higher Order ◽  
Local Analysis ◽  
Algebraic Expression ◽  
Local Geometry ◽  
Mobility Analysis ◽  
Lower Pair

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 geometry at a given configuration. A higher-order analysis is necessary to determine the finite mobility. To this end, past research leads to approaches using higher-order time derivatives of loop closure constraints assuming (implicitly) that all possible motions are smooth. This continuity assumption limits the generality of these methods. In this paper, an approach to the higher-order local mobility analysis of lower pair multiloop linkages is presented. This is based on a higher-order Taylor series expansion of the geometric constraint mapping, for which a recursive algebraic expression in terms of joint screws is presented. An exhaustive local analysis includes analysis of the set of constraint singularities (configurations where the constraint Jacobian has certain corank). A local approximation of the set of configurations with certain rank is presented, along with an explicit expression for the differentials of Jacobian minors in terms of instantaneous joint screws. The c-space and the set of points of certain corank are therewith locally approximated by an algebraic variety determined algebraically from the mechanism's screw system. The results are shown for a simple planar 4-bar linkage, which exhibits a bifurcation singularity and for a planar three-loop linkage exhibiting a cusp in c-space. The latter cannot be treated by the higher-order local analysis methods proposed in the literature.

Identification of Non-Transversal Bifurcations of Linkages

2020 ◽  
Author(s):  
Andreas Müller ◽  
P. C. López Custodio ◽  
J. S. Dai
Keyword(s):  
Tangent Cone ◽  
Computational Method ◽  
Local Analysis ◽  
Mathematical Framework ◽  
Finite Motion ◽  
Smooth Motion ◽  
Algorithmic Framework ◽  
Definition Of

Abstract The local analysis is an established approach to the study of singularities and mobility of linkages. Key result of such analyses is a local picture of the finite motion through a configuration. This reveals the finite mobility at that point and the tangents to smooth motion curves. It does, however, not immediately allow to distinguish between motion branches that do not intersect transversally (which is a rather uncommon situation that has only recently been discussed in the literature). The mathematical framework for such a local analysis is the kinematic tangent cone. It is shown in this paper that the constructive definition of the kinematic tangent cone already involves all information necessary to separate different motion branches. A computational method is derived by amending the algorithmic framework reported in previous publications.

Identification of Non-Transversal Motion Bifurcations of Linkages

2021 ◽  
Vol 13 (2) ◽  
Author(s):  
Andreas Müller ◽  
P.C. López-Custodio ◽  
J.S. Dai
Keyword(s):  
Tangent Cone ◽  
Computational Method ◽  
Local Analysis ◽  
Mathematical Framework ◽  
Finite Motion ◽  
Smooth Motion ◽  
Transversal Motion ◽  
Algorithmic Framework ◽  
Definition Of

Abstract The local analysis is an established approach to the study of singularities and mobility of linkages. The key result of such analyses is a local picture of the finite motion through a configuration. This reveals the finite mobility at that point and the tangents to smooth motion curves. It does, however, not immediately allow to distinguish between motion branches that do not intersect transversally (which is a rather uncommon situation that has only recently been discussed in the literature). The mathematical framework for such a local analysis is the kinematic tangent cone. It is shown in this paper that the constructive definition of the kinematic tangent cone already involves all information necessary to distinguish different motion branches. A computational method is derived by amending the algorithmic framework reported in previous publications.

scholarly journals Bifurcation and global dynamical behavior of the f(T) theory

2014 ◽  
Vol 29 (07) ◽  
pp. 1450033 ◽  
Author(s):  
Chao-Jun Feng ◽  
Xin-Zhou Li ◽  
Li-Yan Liu
Keyword(s):  
Dynamical System ◽  
Critical Points ◽  
Initial Conditions ◽  
Dynamical Behavior ◽  
Nonlinear Effects ◽  
Local Analysis ◽  
Local Method ◽  
Initial Values ◽  
Bifurcation Phenomenon

Usually, in order to investigate the evolution of a theory, one may find the critical points of the system and then perform perturbations around these critical points to see whether they are stable or not. This local method is very useful when the initial values of the dynamical variables are not far away from the critical points. Essentially, the nonlinear effects are totally neglected in such kind of approach. Therefore, one cannot tell whether the dynamical system will evolute to the stable critical points or not when the initial values of the variables do not close enough to these critical points. Furthermore, when there are two or more stable critical points in the system, local analysis cannot provide the information on which the system will finally evolute to. In this paper, we have further developed the nullcline method to study the bifurcation phenomenon and global dynamical behavior of the f(T) theory. We overcome the shortcoming of local analysis. And, it is very clear to see the evolution of the system under any initial conditions.

scholarly journals On the integral kernels of derivatives of the Ornstein–Uhlenbeck semigroup

2016 ◽  
Vol 19 (04) ◽  
pp. 1650030 ◽  
Author(s):  
Jonas Teuwen
Keyword(s):  
Closed Form ◽  
Hermite Polynomials ◽  
Closed Form Expression ◽  
Alternative Proof ◽  
Kernel Estimates ◽  
Form Expression ◽  
Mehler Kernel ◽  
Derivatives Of

This paper presents a closed-form expression for the integral kernels associated with the derivatives of the Ornstein–Uhlenbeck semigroup [Formula: see text]. Our approach is to expand the Mehler kernel into Hermite polynomials and apply the powers [Formula: see text] of the Ornstein–Uhlenbeck operator to it, where we exploit the fact that the Hermite polynomials are eigenfunctions for [Formula: see text]. As an application we give an alternative proof of the kernel estimates by Ref. 10, making all relevant quantities explicit.

CRITICAL DIMENSIONS OF SYSTEMS WITH JOINT MULTICRITICAL AND LIFSHITZ-POINT-LIKE BEHAVIOR

2011 ◽  
Vol 25 (22) ◽  
pp. 1839-1845 ◽  
Author(s):  
ARTEM V. BABICH ◽  
LESYA N. KITCENKO ◽  
VYACHESLAV F. KLEPIKOV
Keyword(s):  
Field Theory ◽  
Critical Phenomena ◽  
Critical Points ◽  
Order Parameter ◽  
Mean Field Theory ◽  
Mean Field ◽  
Critical Dimensions ◽  
Lifshitz Point ◽  
The Mean ◽  
Derivatives Of

In this article, we consider a model that allows one to describe critical phenomena in systems with higher powers and derivatives of order parameter. The systems considered have critical points with joint multicritical and Lifshitz-point-like properties. We assess the lower and upper critical dimensions of these systems. These calculation enable us to find the fluctuation region where the mean field theory description does not work.

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