Compliance error compensation technique for parallel robots composed of non-perfect serial chains

The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also demonstrated that the impact of the compliance errors and the errors caused by inaccuracy in serial chains cannot be taken into account using the superposition principle.Comment: arXiv admin note: text overlap with arXiv:1204.175

Non-Smooth Spatio-Temporal Coordinates in Nonlinear Dynamics

This paper presents an overview of physical ideas and mathematical methods for implementing non-smooth and discontinuous substitutions in dynamical systems. General purpose of such substitutions is to bring the differential equations of motion to the form, which is convenient for further use of analytical and numerical methods of analyses. Three different types of nonsmooth transformations are discussed as follows: positional coordinate transformation, state variables transformation, and temporal transformations. Illustrating examples are provided.Comment: 15 figure

Cooperative surmounting of bottlenecks

The physics of activated escape of objects out of a metastable state plays a key role in diverse scientific areas involving chemical kinetics, diffusion and dislocation motion in solids, nucleation, electrical transport, motion of flux lines superconductors, charge density waves, and transport processes of macromolecules, to name but a few. The underlying activated processes present the multidimensional extension of the Kramers problem of a single Brownian particle. In comparison to the latter case, however, the dynamics ensuing from the interactions of many coupled units can lead to intriguing novel phenomena that are not present when only a single degree of freedom is involved. In this review we report on a variety of such phenomena that are exhibited by systems consisting of chains of interacting units in the presence of potential barriers. In the first part we consider recent developments in the case of a deterministic dynamics driving cooperative escape processes of coupled nonlinear units out of metastable states. The ability of chains of coupled units to undergo spontaneous conformational transitions can lead to a self-organised escape. The mechanism at work is that the energies of the units become re-arranged, while keeping the total energy conserved, in forming localised energy modes that in turn trigger the cooperative escape. We present scenarios of significantly enhanced noise-free escape rates if compared to the noise-assisted case. The second part deals with the collective directed transport of systems of interacting particles overcoming energetic barriers in periodic potential landscapes. Escape processes in both time-homogeneous and time-dependent driven systems are considered for the emergence of directed motion. It is shown that ballistic channels immersed in the associated high-dimensional phase space are the source for the directed long-range transport

Steinitz Theorems for Orthogonal Polyhedra

We define a simple orthogonal polyhedron to be a three-dimensional polyhedron with the topology of a sphere in which three mutually-perpendicular edges meet at each vertex. By analogy to Steinitz's theorem characterizing the graphs of convex polyhedra, we find graph-theoretic characterizations of three classes of simple orthogonal polyhedra: corner polyhedra, which can be drawn by isometric projection in the plane with only one hidden vertex, xyz polyhedra, in which each axis-parallel line through a vertex contains exactly one other vertex, and arbitrary simple orthogonal polyhedra. In particular, the graphs of xyz polyhedra are exactly the bipartite cubic polyhedral graphs, and every bipartite cubic polyhedral graph with a 4-connected dual graph is the graph of a corner polyhedron. Based on our characterizations we find efficient algorithms for constructing orthogonal polyhedra from their graphs.Comment: 48 pages, 31 figure

On the negative spectrum of the Robin Laplacian in corner domains

For a bounded corner domain $\Omega$, we consider the Robin Laplacian in $\Omega$ with large Robin parameter. Exploiting multiscale analysis and a recursive procedure, we have a precise description of the mechanism giving the ground state of the spectrum. It allows also the study of the bottom of the essential spectrum on the associated tangent structures given by cones. Then we obtain the asymptotic behavior of the principal eigenvalue for this singular limit in any dimension, with remainder estimates. The same method works for the Schr\"odinger operator in $\mathbb{R}^n$ with a strong attractive delta-interaction supported on $\partial\Omega$. Applications to some Erhling's type estimates and the analysis of the critical temperature of some superconductors are also provided