A Five-Bar Planar Parallel Manipulator with Two End-Effectors

Parallel manipulators with multiple end-effectors bring us interesting advantages over conventional parallel manipulators such as improved manipulability, workspace and avoidance of singularities. In this work the kinematics of a five-bar planar parallel manipulator equipped with two end-effectors is approached by means of the theory of screws. As an intermediate step the displacement analysis of the robot is also investigated. The input-output equations of velocity and acceleration are systematically obtained by resorting to reciprocal-screw theory. In that regard the Klein form of the Lie algebra se(3) of the Euclidean group SE(3) plays a central role. In order to exemplify the method of kinematic analysis, a case study is included. Furthermore, the numerical results obtained by means of the theory of screws are confirmed with the aid of special software like ADAMS.TM

WHEN IS THE DEFORMATION SPACE $\mathscr{T}(\Gamma, H_{2n+1}, H)$ A SMOOTH MANIFOLD?

Let G = H2n + 1 be the 2n + 1-dimensional Heisenberg group and H be a connected Lie subgroup of G. Given any discontinuous subgroup Γ ⊂ G for G/H, a precise union of open sets of the resulting deformation space [Formula: see text] of the natural action of Γ on G/H is derived since the paper of Kobayshi and Nasrin [Deformation of Properly discontinuous action of ℤk and ℝk+1, Internat. J. Math.17 (2006) 1175–1190]. We determine in this paper when exactly this space is endowed with a smooth manifold structure. Such a result is only known when the Clifford–Klein form Γ\G/H is compact and Γ is abelian. When Γ is not abelian or H meets the center of G, the parameter and deformation spaces are shown to be semi-algebraic and equipped with a smooth manifold structure. In the case where Γ is abelian and H does not meet the center of G, then [Formula: see text] splits into finitely many semi-algebraic smooth manifolds and fails to be a Hausdorff space whenever Γ is not maximal, but admits a manifold structure otherwise. In any case, it is shown that [Formula: see text] admits an open smooth manifold as its dense subset. Furthermore, a sufficient and necessary condition for the global stability of all these deformations to hold is established.

DIELECTRIC BRANES IN NONTRIVIAL BACKGROUNDS

We present a procedure to evaluate the action for dielectric branes in nontrivial backgrounds. These backgrounds must be capable to be taken into a Kaluza–Klein form, with some nonzero wrapping factor. We derive the way this wrapping factor is gauged away. Examples of this are AdS5 × S5 and AdS3 × S3 × T4, where we perform the construction of different stable systems, which stability relies in its dielectric character.

Jerk distribution of a 6–3 Gough-Stewart platform

This paper is devoted to forward and inverse jerk analyses, by means of screw theory, of a Gough-Stewart platform with special topology, namely type 6–3. Given a set of generalized coordinates, and their time derivatives, the reduced jerk state or, for brevity, the jerkor of the moving platform, with respect to the fixed platform, is easily obtained by taking advantage of the properties of the Klein form, a bilinear symmetric form of the Lie algebra, e(3). Finally, the joint rate jerks of the parallel manipulator are found, expressing in screw form the jerkor of the moving platform with respect to the fixed platform. A numerical example is provided.

Forward and Inverse Acceleration Analyses of In-Parallel Manipulators

Simple expressions for the forward and inverse acceleration analyses of a six degree of freedom in-parallel manipulator are derived. The expressions are obtained by firstly computing the “accelerator” for a single Hooke-Prismatic-Spheric, HPS for short, connector chain in terms of the joint velocities and accelerations. The accelerator is a function of the line coordinates of the joint axes and of a sequence of Lie products of the same line coordinates. A simple expression for the acceleration of the prismatic actuator is obtained by forming the Klein form, or reciprocal product, with the accelerator and the coordinates of the line of the connector chain. Since the Klein form is invariant, the resulting expression can be applied directly to the six HPS connector chains of an in-parallel manipulator. As a required intermediate step, this contribution also derives the corresponding solutions for the forward and inverse velocity analyses. The authors believe that this simple method has applications in the dynamics and control of these in-parallel manipulators where the computing time must be minimized to improve the behavior of parallel manipulators. [S1050-0472(00)01303-9]

On closed radical orbits in homogeneous complex manifolds

Suppose G is a complex Lie group having a finite number of connected components and H is a closed complex subgroup of G with H° solvable. Let RG denote the radical of G. We show the existence of closed complex subgroups I and J of G containing H such that I/H is a connected solvmanifold with I° ⊃ RG, the space G/J has a Klein form SG/A, where A is an algebraic subgroup of the semisimple complex Lie group SG: = G/RG, and, unless I = J, the space J/I has Klein form , where is a Zariski dense discrete subgroup of some connected positive dimensional semisimple complex Lie group Ŝ.

An Efficient Inverse Acceleration Analysis of In-Parallel Manipulators

A very simple novel expression for the accelerations of the six prismatic actuators, of the HPS connector chains, of a 6 degree of freedom in-parallel manipulator is derived. The expression is obtained by firstly computing the “accelerator” for a single HPS connector chain in terms of the joint velocities and accelerations. The accelerator is a function of the line coordinates of the joint axes and of a sequence of Lie products of the same line coordinates. A simple expression for the acceleration of the prismatic actuator is obtained by forming the Klein form, or reciprocal product, with the accelerator and the coordinates of the line of the connector chain. Since the Klein form is invariant, the resulting expression can be applied directly to the six HPS connector chains of an in-parallel manipulator. The authors believe that this simple method has important applications in the dynamics and control of these in-parallel manipulators where the computing time must be minimized to improve the behavior of parallel manipulators.