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Identification of the Special Configurations of the Octahedral Manipulator using the Pure Condition

D.M. Downing, A.E. Samuel, K.H. Hunt
2002 The international journal of robotics research  
The results lead to a simple and clear method for identifying special configurations in the octahedral manipulator and other specializations of the Stewart Platform.  ...  This paper presents a technique, known as the Pure Condition, which has found use in analysing the rigidity of truss-like structures.  ...  We have demonstrated the use of the Pure Condition in aiding identification of the geometrical conditions for special configurations of the octahedral manipulator.  ... 
doi:10.1177/027836402760475351 fatcat:jht2awaakrawzofjzd2d3kuns4

SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra [article]

Patricia Ben-Horin, Stéphane Caro
2008 arXiv   pre-print
and graphically, allowing as well the singularity verification of different robot poses.  ...  This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra.  ...  H. (2002), Identification of the special configurations of the octahedral manipulator using the pure condition, The International Journal of Robotics Research, vol. 21, no. 2, pp-147-159.  ... 
arXiv:0809.3182v1 fatcat:kdgahdhjtbayjlj55c4wkiu3fq

Synthesis of iron-rich tri-octahedral clay minerals: A review

Liva Dzene, Jocelyne Brendlé, Lionel Limousy, Patrick Dutournié, Christelle Martin, Nicolas Michau
2018 Applied Clay Science  
Two approaches of hydrothermal synthesis have been applied: using gel or 13 solid precursors. The most common synthesis approach is the hydrothermal synthesis using gel 14 precursor.  ...  The thermodynamic stability of synthesized 20 phases, as well as the reason for elements adopting a definite configuration and distribution in 21 solid phase remain open questions. 22  ...  and identification of IRTOCM Common features of synthesis conditions 411 The 1:1 tri-octahedral Fe-rich clay mineral synthesis reported in the literature were 412 performed by hydrothermal method using  ... 
doi:10.1016/j.clay.2018.09.030 fatcat:tlxe5e6p6rahfaeogfzpneiq5a

SINGULARITIES OF ROBOT MANIPULATORS

P.S. Donelan
2007 Singularity Theory  
A number of attempts have been made to understand kinematic singularities and, more specifically, singularities of robot manipulators, using aspects of the singularity theory of smooth maps.  ...  This exemplifies the difficulties of tailoring singularity theory's emphasis on the generic with the specialized designs that play a key role in engineering.  ...  This enables us to deduce the screw type from the geometric configuration of the lines.  ... 
doi:10.1142/9789812707499_0006 fatcat:uxfshkycgfdmbjdzavbtmogjqm

An Overview of Kinematic and Calibration Models Using Internal/External Sensors or Constraints to Improve the Behavior of Spatial Parallel Mechanisms

Ana C. Majarena, Jorge Santolaria, David Samper, Juan J. Aguilar
2010 Sensors  
measure, the number of sensors and necessary configurations, the type and influence of errors or the number of necessary parameters.  ...  This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors.  ...  To obtain the force and the torque of the manipulator he developed the dynamic analysis, but he assumed that the legs are massless and exert pure forces.  ... 
doi:10.3390/s101110256 pmid:22163469 pmcid:PMC3230999 fatcat:edmmwtuyfjg7viiitn77752ueu

Critical review of analytical applications of Mössbauer spectroscopy illustrated by mineralogical and geological examples (IUPAC Technical Report)

E. Kuzmann, S. Nagy, A. Vértes
2003 Pure and Applied Chemistry  
Our approach can also help to systematize the Mössbauer data for the identification of individual physicochemical species from the corresponding patterns present in the spectrum.  ...  The basis of analytical classification is the microenvironment, which is determined by an assembly of atoms causing the same hyperfine interactions at one particular class of the Mössbauer probe atoms.Since  ...  The quadrupole splitting distributions-special types of transformed patterns-can be derived from the measured spectra using special computer programs.  ... 
doi:10.1351/pac200375060801 fatcat:yajks3rosvcatbsvjgjlbrbvga

Dual computations of non-Abelian Yang-Mills theories on the lattice

J. Wade Cherrington, J. Daniel Christensen, Igor Khavkine
2007 Physical Review D  
Using methods developed recently in the context of spin foam quantum gravity, we derive an algorithm for efficiently computing the dual amplitude and describe Metropolis moves for sampling the dual ensemble  ...  Specifically, we consider three-dimensional SU(2) pure Yang-Mills as an accessible yet non-trivial case in which the gauge group is non-abelian.  ...  This work was made possible by the facilities of the Shared Hierarchical Academic Research Computing Network (SHARCNET).  ... 
doi:10.1103/physrevd.76.094503 fatcat:yt56kroysvf2to7m7porqbxzci

Polytypism of crystal structures

B.B. Zvyagin
1988 Computers and Mathematics with Applications  
Different polytypes require a variety of individual approaches in their consideration and symbolic description using symbols of the structural units, of their positions-displacements, orientations--rotations  ...  relative positions and/or orientations of the building units, combinations of structural units periodic in two and one dimensions or having finite dimensions, as well as purely chain-ribbon structures  ...  Acknowledgement--The author is indebted to the memory of A. V. Shubnikov, the meeting of whom in 1946 turned him to the crystallographic science and, in particular, brought him to write this article.  ... 
doi:10.1016/0898-1221(88)90247-7 fatcat:owl4zqcrnrdhxp6jasitpkpjoa

Error Modeling and Accuracy of Parallel Industrial Robots [chapter]

Hongliang Cui, Zhenqi Zhu
2006 Industrial Robotics: Theory, Modelling and Control  
As a result, if the nominal values of these parameters are used within the robot system control software, the resulting pose of the system will be inaccurate.  ...  In related experiments, special measurement tools and sensors are necessary to identify the stiffness of driving joints.  ...  The use of three such parallelograms restrains completely the orientation of the mobile platform, which remains only three purely translational degrees of freedom.  ... 
doi:10.5772/5018 fatcat:zgqzrfjw3ndkhohiv2egdb7ek4

Flagged Parallel Manipulators

M. Alberich-Carraminana, F. Thomas, C. Torras, C. Torras
2007 IEEE Transactions on robotics  
The conditions for a parallel manipulator to be flagged can be simply expressed in terms of linear dependencies between the coordinates of its leg attachments, both on the base and on the platform.  ...  In this paper, this topology is formally derived and all the cells, in the configuration space of the platform, of dimension 6 (nonsingular) and dimension 5 (singular), together with their adjacencies,  ...  Besides the 3/2 parallel manipulator and all its specializations, some instances of 3-2-1 manipulators are also known to be flagged [26] .  ... 
doi:10.1109/tro.2007.903819 fatcat:exygzhzi7zetfd5axcnx4odrtq

On the use of symmetry in configurational analysis for the simulation of disordered solids

Sami Mustapha, Philippe D'Arco, Marco De La Pierre, Yves Noël, Matteo Ferrabone, Roberto Dovesi
2013 Journal of Physics: Condensed Matter  
The way symmetry can be used in the identification of symmetry independent configurations (SICs) is here discussed.  ...  storage of all the possible configurations.  ...  Acknowledgments The authors are very grateful to the anonymous reviewers for their valuable suggestions to improve the readibility of the text and the comparison with other published works, as well as  ... 
doi:10.1088/0953-8984/25/10/105401 pmid:23388579 fatcat:eysnsnend5hndb7irxitd7bpym

Chiral Broken Symmetry Descendants of the Kagomé Lattice Chiral Spin Liquid [article]

Anjishnu Bose, Arijit Haldar, Erik S. Sørensen, Arun Paramekanti
2022 arXiv   pre-print
Here, we show that two distinct non-coplanar magnetic orders with uniform spin chirality, the XYZ umbrella state and the Octahedral spin crystal, emerge as competing orders in close proximity to the kagom  ...  Recent work has extensively explored the resulting emergence of chiral charge orders and chiral spin liquids on the kagom\'e lattice.  ...  Acknowledgements This work was supported by the Natural Sciences and Engineering Research Council of Canada.  ... 
arXiv:2204.10329v1 fatcat:iiaqqu4kvjhg7puwqqo4paxmvu

Ni based oxygen carrier over γ-Al2O3 for chemical looping combustion: Effect of preparation method on metal support interaction

Mohammad R. Quddus, Mohammad M. Hossain, Hugo I. de Lasa
2013 Catalysis Today  
The prepared OCs are also tested under CLC operating condition of the Chemical Reactor Engineering Center (CREC) fluidized Riser Simulator, using multiple reduction/oxidation cycles.  ...  Apart from these beneficial effects, the reducibility and the structural properties of the prepared OCs are found to be modified by the different preparation methods used.  ...  Lack of tetrahedral configurations in -Al 2 O 3 resulted in two peaks below 650 • C which were assigned to bulk NiO and Ni 2+ in octahedral spinel configuration.  ... 
doi:10.1016/j.cattod.2013.02.005 fatcat:6ek535hxdrd5jn4vfy56jsa4c4

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Typesetting: Camera-ready by Contributors SPIN 10717447 543210 (Robotics Society of Japan) and SICE (Society of Instr. and Control Engineers of Japan).  ...  Acknowledgements The authors wish to acknowledge the support of the Natural Science and Engineering Research Council of Canada, the Institute for Robotic and Intelligent Systems (IRIS) and Precam Associates  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Mobility of a class of perforated polyhedra

Patrick W. Fowler, Simon D. Guest, Bernd Schulze
2016 International Journal of Solids and Structures  
Each row shows points on the path of the characteristic mechanism: initial high-symmetry configuration; the distortion mechanism, showing the halving of the symmetry group; the fully collapsed configuration  ...  Manipulation of the physical model suggests that there is no other mechanism in the initial tetrahedral structures.  ... 
doi:10.1016/j.ijsolstr.2016.02.006 fatcat:aly2z65zzja2vnbomgovapy3hy
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