9,870 research outputs found

    On congruence equations arising from suborbital graphs

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    In this paper we deal with congruence equations arising from suborbital graphs of the normalizer of Γ_0(m) in PSL(2,R) . We also propose a conjecture concerning the suborbital graphs of the normalizer and the related congruence equations. In order to prove the existence of solution of an equation over prime finite field, this paper utilizes the Fuchsian group action on the upper half plane and Farey graphs properties

    A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

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    Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space and in the workspace. It is shown that a cusp (resp. a node) defines a point of tangency (resp. a crossing point) in the workspace between the singular curves and the curves associated with the so-called characteristics surfaces. The study is conducted on a planar 3-RPR manipulator for illustrative purposes.Comment: 4th International Congress Design and Modeling of Mechanical Systems, Sousse : Tunisia (2011
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