Combinatorial characterization of the Assur graphs from engineering

DOI10.1016/J.EJC.2009.11.019MaRDI QIDQ973098zbMATH OpenOpenAlexFDO

Authors Brigitte Servatius, Offer Shai, Walter Whiteley

Publication date 28 May 2010

Published in European Journal of Combinatorics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0801.2525

zbMATH Keywords

kinematicsAssur graphsrigid theory

Mathematics Subject Classification ID

Applications of graph theory (05C90) Structural characterization of families of graphs (05C75) Dynamics of multibody systems (70E55)

Abstract: We introduce the idea of Assur graphs, a concept originally developed and exclusively employed in the literature of the kinematics community. The paper translates the terminology, questions, methods and conjectures from the kinematics terminology for one degree of freedom linkages to the terminology of Assur graphs as graphs with special properties in rigidity theory. Exploiting recent works in combinatorial rigidity theory we provide mathematical characterizations of these graphs derived from minimal linkages. With these characterizations, we confirm a series of conjectures posed by Offer Shai, and offer techniques and algorithms to be exploited further in future work.

Recommendations

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Cited in

(10)

• Symmetric versions of Laman's theorem
• Graph-based structural analysis of planar mechanisms
• Geometric properties of Assur graphs
• An improved bound for the rigidity of linearly constrained frameworks
• Integrable systems in planar robotics
• Symmetry adapted assur decompositions
• Assur decompositions of direction-length frameworks
• Directed graphs, decompositions, and spatial linkages
• Generating all rigidity circuits on at most 10 vertices and all Assur graphs on at most 11 vertices
• Point-hyperplane frameworks, slider joints, and rigidity preserving transformations

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