arXiv subjects

Hans-Peter Schröcker

Publications and source records attributed to Hans-Peter Schröcker.

At least 55 records · Page 3Linked to original sources

arXiv2015

The Kinematic Image of 2R Dyads and Exact Synthesis of 5R Linkages

We characterise the kinematic image of the constraint variety of a 2R dyad as a regular ruled quadric in a 3-space that contains a "null quadrilateral". Three prescribed poses determine, in general, two such quadrics. This allows us to modify a recent algorithm for the synthesis of 6R linkages in such a way that two consecutive revolute axes coincide, thus producing a 5R linkage. Using the classical geometry of twisted cubics on a quadric, we explain some of the peculiar properties of the the resulting synthesis procedure for 5R linkages.

math.MG↗

arXiv2015

From the Fundamental Theorem of Algebra to Kempe's Universality Theorem

This article provides a gentle introduction for a general mathematical audience to the factorization theory of motion polynomials and its application in mechanism science. This theory connects in a rather unexpected way a seemingly abstract mathematical topic, the non-unique factorization of certain polynomials over the ring of dual quaternions, with engineering applications. Four years after its introduction, it is already clear how beneficial it has been to both fields.

math.RA↗

arXiv2015

Factorization of Rational Motions: A Survey with Examples and Applications

Since its introduction in 2012, the factorization theory for rational motions quickly evolved and found applications in theoretical and applied mechanism science. We provide an accessible introduction to motion factorization with many examples, summarize recent developments and hint at some new applications. In particular, we provide pseudo-code for the generic factorization algorithm, demonstrate how to find a replacement linkage for a special case in the synthesis of Bennett mechanisms and, as an example of non-generic factorization, synthesize open chains for circular and elliptic translations.

cs.RO↗

arXiv2015

7R Darboux Linkages by Factorization of Motion Polynomials

In this paper, we construct two types of 7R closed single loop linkages by combining different factorizations of a general (non-vertical) Darboux motion. These factorizations are obtained by extensions of a factorization algorithm for a generic rational motion. The first type of 7R linkages has several one-dimensional configuration components and one of them corresponds to the Darboux motion. The other type is a 7R linkage with two degrees of freedom and without one-dimensional component. The Darboux motion is a curve in an irreducible two dimensional configuration component.

cs.RO↗

arXiv2015

Factorization of Motion Polynomials

In this paper, we consider the existence of a factorization of a monic, bounded motion polynomial. We prove existence of factorizations, possibly after multiplication with a real polynomial and provide algorithms for computing polynomial factor and factorizations. The first algorithm is conceptually simpler but may require a high degree of the polynomial factor. The second algorithm gives an optimal degree.

cs.SC↗

arXiv2014

Spatial Straight Line Linkages by Factorization of Motion Polynomials

We use the recently introduced factorization of motion polynomials for constructing overconstrained spatial linkages with a straight line trajectory. Unlike previous examples, the end-effector motion is not translational and the link graph is a cycle. In particular, we obtain a number of linkages with four revolute and two prismatic joints and a remarkable linkage with seven revolute joints one of whose joints performs a Darboux motion.

math.MG↗

arXiv2014

Guaranteed Collision Detection With Toleranced Motions

We present a method for guaranteed collision detection with toleranced motions. The basic idea is to consider the motion as a curve in the 12-dimensional space of affine displacements, endowed with an object-oriented Euclidean metric, and cover it with balls. The associated orbits of points, lines, planes and polygons have particularly simple shapes that lend themselves well to exact and fast collision queries. We present formulas for elementary collision tests with these orbit shapes and we suggest an algorithm, based on motion subdivision and computation of bounding balls, that can give a no-collision guarantee. It allows a robust and efficient implementation and parallelization. At hand of several examples we explore the asymptotic behavior of the algorithm and compare different implementation strategies.

cs.CG↗

arXiv2013

The Theory of Bonds II: Closed 6R Linkages with Maximal Genus

In this paper, we introduce a method that allows to produce necessary conditions on the Denavit--Hartenberg parameters for the mobility of a closed linkage with six rotational joints. We use it to prove that the genus of the configuration curve of a such a linkage is at most five, and to give a complete classification of the linkages with a configuration curve of degree four or five. The classification contains new families.

math.AG↗

arXiv2013

Four-Pose Synthesis of Angle-Symmetric 6R Linkages

We use the recently introduced factorization theory of motion polynomials over the dual quaternions for the synthesis of closed kinematic loops with six revolute joints that visit four prescribed poses. Our approach admits either no or a one-parametric family of solutions. We suggest strategies for picking good solutions from this family.

cs.RO↗

arXiv2013

The Theory of Bonds: A New Method for the Analysis of Linkages

In this paper we introduce a new technique, based on dual quaternions, for the analysis of closed linkages with revolute joints: the theory of bonds. The bond structure comprises a lot of information on closed revolute chains with a one-parametric mobility. We demonstrate the usefulness of bond theory by giving a new and transparent proof for the well-known classification of overconstrained 5R linkages.

math.AG↗

arXiv2012

Factorization of Rational Curves in the Study Quadric and Revolute Linkages

Given a generic rational curve $C$ in the group of Euclidean displacements we construct a linkage such that the constrained motion of one of the links is exactly $C$. Our construction is based on the factorization of polynomials over dual quaternions. Low degree examples include the Bennett mechanisms and contain new types of overconstrained 6R-chains as sub-mechanisms.

math.RA↗

arXiv2011

Minimal area ellipses in the hyperbolic plane

We present uniqueness results for enclosing ellipses of minimal area in the hyperbolic plane. Uniqueness can be guaranteed if the minimizers are sought among all ellipses with prescribed axes or center. In the general case, we present a sufficient and easily verifiable criterion on the enclosed set that ensures uniqueness.

math.MG↗

arXiv2011

Discrete Laplace Cycles of Period Four

We study discrete conjugate nets whose Laplace sequence is of period four. Corresponding points of opposite nets in this cyclic sequence have equal osculating planes in different net directions, that is, they correspond in an asymptotic transformation. We show that this implies that the connecting lines of corresponding points form a discrete W-congruence. We derive some properties of discrete Laplace cycles of period four and describe two explicit methods for their construction.

math.DG↗

arXiv2010

The Bäcklund Transform of Principal Contact Element Nets

We investigate geometric aspects of the the Bäcklund transform of principal contact element nets. A Bäcklund transform exists if and only if it the principal contact element net is of constant negative Gaussian curvature (a pseudosphere). We describe an elementary construction of the Bäcklund transform and prove its correctness. Finally, we show that Bianchi's Permutation Theorem remains valid in our discrete setting.

math.DG↗

arXiv2010

Minimal area conics in the elliptic plane

We prove some uniqueness results for conics of minimal area that enclose a compact, full-dimensional subset of the elliptic plane. The minimal enclosing conic is unique if its center or axes are prescribed. Moreover, we provide sufficient conditions on the enclosed set that guarantee uniqueness without restrictions on the enclosing conics. Similar results are formulated for minimal enclosing conics of line sets as well.

math.MG↗

arXiv2010

Discrete Gliding Along Principal Curves

We consider $n$-dimensional discrete motions such that any two neighbouring positions correspond in a pure rotation ("rotating motions"). In the Study quadric model of Euclidean displacements these motions correspond to quadrilateral nets with edges contained in the Study quadric ("rotation nets"). The main focus of our investigation lies on the relation between rotation nets and discrete principal contact element nets. We show that every principal contact element net occurs in infinitely many ways as trajectory of a discrete rotating motion (a discrete gliding motion on the underlying surface). Moreover, we construct discrete rotating motions with two non-parallel principal contact element net trajectories. Rotation nets with this property can be consistently extended to higher dimensions.

math.DG↗

arXiv2009

Contributions to Four-Position Theory with Relative Rotations

We consider the geometry of four spatial displacements, arranged in cyclic order, such that the relative motion between neighbouring displacements is a pure rotation. We compute the locus of points whose homologous images lie on a circle, the locus of oriented planes whose homologous images are tangent to a cone of revolution, and the locus of oriented lines whose homologous images form a skew quadrilateral on a hyperboloid of revolution.

math.MG↗

arXiv2009

Orthologic Tetrahedra with Intersecting Edges

Two tetrahedra are called orthologic if the lines through vertices of one and perpendicular to corresponding faces of the other are intersecting. This is equivalent to the orthogonality of non-corresponding edges. We prove that the additional assumption of intersecting non-corresponding edges ("orthosecting tetrahedra") implies that the six intersection points lie on a sphere. To a given tetrahedron there exists generally a one-parametric family of orthosecting tetrahedra. The orthographic projection of the locus of one vertex onto the corresponding face plane of the given tetrahedron is a curve which remains fixed under isogonal conjugation. This allows the construction of pairs of conjugate orthosecting tetrahedra to a given tetrahedron.

math.MG↗