کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4661390 | 1344425 | 2007 | 25 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
The configuration space of planar spidery linkages
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موضوعات مرتبط
مهندسی و علوم پایه
ریاضیات
هندسه و توپولوژی
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چکیده انگلیسی
The configuration space of the mechanism of a planar robot is studied. We consider a robot which has n arms such that each arm is of length 1+1 and has a rotational joint in the middle, and that the endpoint of the kth arm is fixed to . Generically, the configuration space is diffeomorphic to an orientable closed surface. Its genus is given by a topological way and a Morse theoretical way. The homeomorphism types of it when it is singular is also given.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Topology and its Applications - Volume 154, Issue 2, 15 January 2007, Pages 502-526
Journal: Topology and its Applications - Volume 154, Issue 2, 15 January 2007, Pages 502-526