<div class="csl-bib-body">
<div class="csl-entry">Nawratil, G. (2024, April 29). <i>A global approach for the redefinition of higher-order flexibility and rigidity</i> [Conference Presentation]. Workshop on Kinematic Aspects of Robotics, Linz, Austria.</div>
</div>
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dc.identifier.uri
http://hdl.handle.net/20.500.12708/204746
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dc.description.abstract
The famous example of the double-Watt mechanism given by Connelly
and Servatius [Higher-order rigidity - What is the proper definition? Discrete
& Computational Geometry 11:193-200, 1994] raises some problems concerning
the classical definitions of higher-order flexibility and rigidity, as they attest the
cusp configuration of the mechanism a third-order rigidity, which conflicts with
its continuous flexion. Some attempts were done to resolve the dilemma but
they could not settle the problem. According to Müller [Higher-order analysis of
kinematic singularities of lower pair linkages and serial manipulators. Journal of
Mechanisms and Robotics 10:011008, 2018] cusp mechanisms demonstrate the
basic shortcoming of any local mobility analysis using higher-order constraints.
Therefore we present a global approach inspired by Sabitov’s finite algorithm
for testing the bendability of a polyhedron given in [Local Theory of Bendings
of Surfaces. Geometry III, pp. 179-250, Springer, 1992], which allows us (a) to
compute iteratively configurations with a higher-order flexion (e.g. all configurations of a given 3-RPR manipulator with 3rd-order flexion) and (b) to come up
with a proper redefinition of higher-order flexibility and rigidity.
en
dc.language.iso
en
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dc.subject
rigidity
en
dc.subject
robotics
en
dc.subject
double-Watt mechanism
en
dc.title
A global approach for the redefinition of higher-order flexibility and rigidity
en
dc.type
Presentation
en
dc.type
Vortrag
de
dc.type.category
Conference Presentation
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tuw.publication.invited
invited
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tuw.researchTopic.id
X1
-
tuw.researchTopic.name
Beyond TUW-research focus
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tuw.researchTopic.value
100
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tuw.publication.orgunit
E104-03 - Forschungsbereich Differentialgeometrie und geometrische Strukturen
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tuw.event.name
Workshop on Kinematic Aspects of Robotics
en
tuw.event.startdate
29-04-2024
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tuw.event.enddate
03-05-2024
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tuw.event.online
On Site
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tuw.event.type
Event for scientific audience
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tuw.event.place
Linz
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tuw.event.country
AT
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tuw.event.presenter
Nawratil, Georg
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wb.sciencebranch
Mathematik
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wb.sciencebranch.oefos
1010
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wb.sciencebranch.value
100
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item.languageiso639-1
en
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item.openairetype
conference paper not in proceedings
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item.grantfulltext
none
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item.fulltext
no Fulltext
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item.cerifentitytype
Publications
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item.openairecristype
http://purl.org/coar/resource_type/c_18cp
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crisitem.author.dept
E104-03 - Forschungsbereich Differentialgeometrie und geometrische Strukturen
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crisitem.author.parentorg
E104 - Institut für Diskrete Mathematik und Geometrie
