arXiv subjects

Georg Nawratil

Publications and source records attributed to Georg Nawratil.

At least 19 recordsLinked to original sources

arXiv2026

Rigidity and flexibility of discrete conjugate nets with flexible $3 \times 3$-subnets

Discrete conjugate nets (also known as quad-surfaces) are polyhedral surfaces made of quadrilaterals connected in the combinatorics of the square grid. A generic discrete conjugate net is rigid. The present article contains counterexamples to an erroneous statement that a non-degenerate discrete conjugate net with flexible $3 \times 3$-subnets is flexible and proves a corrected version of it under stronger non-degeneracy assumptions.

math.MG↗

arXiv2026

Higher-Order Flexible Configurations of Planar Parallel Manipulators Constructed by Averaging

This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding degree 6 polynomial we parametrize the input pairs and determine their relative orientation in a way that the flexion order of the averaged configurations increases. Moreover, the obtained results are visualized for concrete examples. The presented methodology can also be used for studying the spherical and spatial analogues of planar 3-RPR parallel manipulators.

cs.RO↗

arXiv2025

Construction and deformation of P-hedra using control polylines

In the 19th International Symposium on Advances in Robot Kinematics the author introduced a novel class of continuous flexible discrete surfaces and mentioned that these so-called P-hedra (or P-nets) allow direct access to their spatial shapes by three control polylines. In this follow-up paper we study this intuitive method, which makes these flexible planar quad surfaces suitable for transformable design tasks by means of interactive tools. The construction of P-hedra from the control polylines can also be used for an efficient algorithmic computation of their isometric deformations. In addition we discuss flexion limits, bifurcation configurations, developable/flat-foldable pattern and tubular P-hedra.

cs.RO↗

arXiv2025

Flexible arrangement of two Bennett tubes

In analogy to flexible bipyramids, also known as Bricard octahedra, we study flexible couplings of two Bennett mechanisms. The resulting flexible bi-Bennett structures can be used as building blocks of flexible tubes with quadrilateral cross-section that possess skew faces. We present three 4-dimensional families of flexible arranged Bennett tubes and discuss some of their properties as well as their relation to flexible bipyramids and biprisms, respectively.

cs.CG↗

arXiv2025

On flexes associated with higher-order flexible bar-joint frameworks

The famous example of the double-Watt mechanism given by Connelly and Servatius raises some problems concerning the classical definitions of higher-order flexibility and rigidity, respectively. Recently, the author was able to give a proper redefinition of the flexion/rigidity order for bar-joint frameworks, but the question for the flexes associated with higher-order flexible structures remained open. In this paper we properly define these flexes based on the theory of algebraic curves and demonstrate their computation by means of Puiseux series. The presented algebraic approach also allows to take reality issues into account.

math.AG↗

arXiv2024

A global approach for the redefinition of higher-order flexibility and rigidity

The famous example of the double-Watt mechanism given by Connelly and Servatius raises some problems concerning the classical definitions of higher-order flexibility and rigidity, respectively, 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. As cusp mechanisms demonstrate the basic shortcoming of any local mobility analysis using higher-order constraints, we present a global approach inspired by Sabitov's finite algorithm for testing the bendability of a polyhedron, which allows us (a) to compute iteratively configurations with a higher-order flexion and (b) to come up with a proper redefinition of higher-order flexibility and rigidity. The presented approach is demonstrated on several examples (double-Watt mechanisms and Tarnai's Leonardo structure). Moreover, we determine all configurations of a given 3-RPR manipulator with a third-order flexion and present a corresponding joint-bar framework of flexion order 23.

math.AG↗

arXiv2024

From axial C-hedra to general P-nets

We give a full classification of continuous flexible discrete axial cone-nets, which are called axial C-hedra. The obtained result can also be used to construct their semi-discrete analogs. Moreover, we identify a novel subclass within the determined class of (semi-)discrete axial cone-nets, whose members are named axial P-nets as they fulfill the proportion (P) of the intercept theorem. Known special cases of these axial P-nets are the smooth and discrete conic crease patterns with reflecting rule lines. By using a parallelism operation one can even generalize axial P-nets. The resulting general P-nets constitute a rich novel class of continuous flexible (semi-)discrete surfaces, which allow direct access to their spatial shapes by three control polylines. This intuitive method makes them suitable for transformable design tasks using interactive tools.

cs.CG↗

arXiv2023

Architecture Singularity Distance Computations for Linear Pentapods

The kinematic/robotic community is not only interested in measuring the closeness of a given robot configuration to its next singular one but also in a geometric meaningful index evaluating how far the robot design is away from being architecturally singular. Such an architecture singularity distance, which can be used by engineers as a criterion within the design process, is presented for a certain class of parallel manipulators of Stewart-Gough type; namely so-called linear pentapods. Geometrically the architecture singular designs are well-understood and can be subclassified into several cases, which allows to solve the optimization problem of computing the closest architecture singular design to a given linear pentapod with algorithms from numerical algebraic geometry.

cs.RO↗

arXiv2023

Shape Reconstruction of Trapezoidal Surfaces

A smooth T-surface can be thought of as a generalization of a surface of revolution in such a way that the axis of rotation is not fixed at one point but rather traces a smooth path on the base plane. Furthermore, the action, by which the aforementioned surface is obtained does not need to be merely rotation but any ``suitable" planar equiform transformation applied to the points of a certain smooth profile curve. In analogy to the smooth setting, if the axis footpoints sweep a polyline on the base plane and if the profile curve is discretely chosen then a T-hedra (discrete T-surface) with trapezoidal faces is obtained. The goal of this article is to reconstruct a T-hedron from an already given point cloud of a T-surface. In doing so, a kinematic approach is taken into account, where the algorithm at first tries to find the aforementioned axis direction associated with the point cloud. Then the algorithm finds a polygonal path through which the axis footpoint moves. Finally, by properly cutting the point cloud with the planes passing through the axis and its footpoints, it reconstructs the surface. The presented method is demonstrated on base of examples. From an applied point of view, the straightforwardness of the generation of these surfaces predestines them for building and design processes. In fact, one can find many built objects belonging to the sub-classes of T-surfaces such as \emph{surfaces of revolution} and \emph{moulding surfaces}. Furthermore, the planarity of the faces of the discrete version paves the way for steel/glass construction in industry. Finally, these surfaces are also suitable for transformable designs as they allow an isometric deformation.

cs.GR↗

arXiv2023

Singularity Distance Computations for 3-RPR Manipulators Using Intrinsic Metrics

We present an efficient algorithm for computing the closest singular configuration to each non-singular pose of a 3-RPR planar manipulator performing a 1-parametric motion. By considering a 3-RPR manipulator as a planar framework, one can use methods from rigidity theory to compute the singularity distance with respect to an intrinsic metric. Such a metric has the advantage over any performance index used for indicating the closeness to singularities, that the obtained value is a distance, which equals the radius of a guaranteed singularity-free sphere in the joint space of the manipulator. The proposed method can take different design options into account as the platform/base can be seen as a triangular plate or as a pin-jointed triangular bar structure. Moreover, we also allow the additional possibility of pinning down the base/platform triangle to the fixed/moving system thus it cannot be deformed. For the resulting nine interpretations, we compute the corresponding intrinsic metrics based on the total elastic strain energy density of the framework using the physical concept of Green-Lagrange strain. The global optimization problem of finding the closest singular configuration with respect to these metrics is solved by using tools from numerical algebraic geometry. The proposed algorithm is demonstrated based on an example, which is also used to compare the obtained intrinsic singularity distances with the corresponding extrinsic ones.

cs.RO↗

arXiv2023

Singularity Distance Computations for 3-RPR Manipulators Using Extrinsic Metrics

It is well-known that parallel manipulators are prone to singularities. However, there is still a lack of distance evaluation functions, referred to as metrics, for computing the distance between two 3-RPR configurations. The proposed extrinsic metrics take the combinatorial structure of the manipulator into account as well as different design options. Utilizing these extrinsic metrics, we formulate constrained optimization problems. These problems are aimed at identifying the closest singular configurations for a given non-singular configuration. The solution to the associated system of polynomial equations relies on algorithms from numerical algebraic geometry implemented in the software package \texttt{Bertini}. Furthermore, we have developed a computational pipeline for determining the distance to singularity during a one-parametric motion of the manipulator. To facilitate these computations for the user, an open-source interface is developed between software packages \texttt{Maple}, \texttt{Bertini}, and \texttt{Paramotopy}. The effectiveness of the presented approach is demonstrated based on numerical examples and compared with existing indices evaluating the singularity closeness.

cs.RO↗

arXiv2023

Isometrically deformable cones and cylinders carrying planar curves

We study cones and cylinders with a 1-parametric isometric deformation carrying at least two planar curves, which remain planar during this continuous flexion and are located in non-parallel planes. We investigate this geometric/kinematic problem in the smooth and the discrete setting, as it is the base for a generalized construction of so-called T-hedral zipper tubes. In contrast to the cylindrical case, which can be solved easily, the conical one is more tricky, but we succeed to give a closed form solution for the discrete case, which is used to prove that these cones correspond to caps of Bricard octahedra of the plane-symmetric type. For the smooth case we are able to reduce the problem by means of symbolic computation to an ordinary differential equation, but its solution remains an open problem.

cs.CG↗

arXiv2023

Generalizing rigid-foldable tubular structures of T-hedral type

We introduce an alternative way of constructing continuous flexible tubes and tubular structures based on a discrete, semi-discrete and smooth construction of surfaces known as T-hedra in the discrete case and profile-affine surfaces in the smooth setting, respectively. The geometric understanding of this method enables us to generalize discrete tubes with a rigid-foldability and to extend the construction to smooth and semi-discrete tubes with an isometric deformation. This achievement implies a unified treatment of continuous flexible structures, like surfaces and metamaterials, composed of tubes and it is the base for a deeper study of zipper tubes, and their generalization. Moreover, we discuss a potential application of the presented structures for the design of foldable bridges.

math.DG↗

arXiv2022

Multi-stable design of triangulated origami structures on cones of revolution

It is well-known that the Kresling pattern of congruent triangles can be arranged either circularly on a cylinder of revolution or in a helical way. In both cases the resulting cylindrical structures are multi-stable. We generalize these arrangements with respect to cones of revolution, where our approach allows to construct structures, which snap between conical realizations whose apex angles serve as design parameters. In this context we also figure out shaky realizations, intervals for self-intersection free realizations and an interesting property related to the cross sectional area. Finally, we analyze these origami structures with respect to their capability to snap by means of the so-called snappability index.

cs.CG↗

arXiv2022

On origami-like quasi-mechanisms with an antiprismatic skeleton

We study snapping and shaky polyhedra which consist of antiprismatic skeletons covered by polyhedral belts composed of triangular faces only. In detail, we generalize Wunderlich's trisymmetric sandglass polyhedron in analogy to the generalizsation of the Jessen orthogonal icosahedron to Milka's extreme birosette structures, with the additional feature that the belt is developable into the plane as the Kresling pattern. Within the resulting 2-dimensional family of origami-like sandglasses we study the 1-parametric sets of quasi-mechanisms which are either shaky or have an extremal snap, i.e. one realization is on the boundary of self-intersection. Moreover, we evaluate the capability of these snapping/shaky quasi-mechanisms to flex on base of the snappability index and the novel shakeability index, respectively.

math.MG↗

arXiv2022

Generalizing continuous flexible Kokotsakis belts of the isogonal type

Kokotsakis studied the following problem in 1932: Given is a rigid closed polygonal line (planar or non-planar), which is surrounded by a polyhedral strip, where at each polygon vertex three faces meet. Determine the geometries of these closed strips with a continuous mobility. On the one side, we generalize this problem by allowing the faces, which are adjacent to polygon line-segments, to be skew; i.e to be non-planar. But on the other side, we restrict to the case where the four angles associated with each polygon vertex fulfill the so-called isogonality condition that both pairs of opposite angles are equal or supplementary. In more detail, we study the case where the polygonal line is a skew quad, as this corresponds to a (3x3) building block of a so-called V-hedra composed of skew quads. The latter also gives a positive answer to a question posed by Robert Sauer in his book of 1970 whether continuous flexible skew quad surfaces exist.

cs.CG↗

arXiv2021

Snappability and singularity-distance of pin-jointed body-bar frameworks

It is well-known that there exist rigid frameworks whose physical models can snap between different realizations due to non-destructive elastic deformations of material. We present a method to measure this snapping capability based on the total elastic strain energy density of the framework by using the physical concept of Green-Lagrange strain. As this so-called snappability only depends on the intrinsic framework geometry, it enables a fair comparison of pin-jointed body-bar frameworks, thus it can serve engineers as a criterion within the design process of multistable mechanisms. Moreover, it turns out that the value obtained from this intrinsic pseudometric also gives the distance to the closest shaky configuration in the case of isostatic frameworks. Therefore it is suited for the computation of these singularity-distances for diverse mechanical devices. In more detail we study this problem for parallel manipulators of Stewart-Gough type.

cs.CG↗

arXiv2021

On the snappability and singularity-distance of frameworks with bars and triangular plates

In a recent article the author presented a method to measure the snapping capability -- shortly called snappability -- of bar-joint frameworks based on the total elastic strain energy by computing the deformation of all bars using Hooke's law and the definition of Cauchy/Engineering strain. Within the paper at hand, we extend this approach to isostatic frameworks composed of bars and triangular plates by using the physical concept of Green-Lagrange strain. An intrinsic pseudometric based on the resulting total elastic strain energy density cannot only be used for evaluating the snappability but also for measuring the distance to the closest singular configuration. The presented methods are demonstrated on the basis of the 3-legged planar parallel manipulator.

cs.CG↗