Linking rigid bodies symmetrically

DOI10.1016/J.EJC.2014.06.002zbMATH Open1300.05323arXiv1402.0039OpenAlexW2963773938MaRDI QIDQ404454FDOQ404454

Shin-Ichi Tanigawa, Bernd Schulze

Publication date: 4 September 2014

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

Abstract: The mathematical theory of rigidity of body-bar and body-hinge frameworks provides a useful tool for analyzing the rigidity and flexibility of many articulated structures appearing in engineering, robotics and biochemistry. In this paper we develop a symmetric extension of this theory which permits a rigidity analysis of body-bar and body-hinge structures with point group symmetries. The infinitesimal rigidity of body-bar frameworks can naturally be formulated in the language of the exterior (or Grassmann) algebra. Using this algebraic formulation, we derive symmetry-adapted rigidity matrices to analyze the infinitesimal rigidity of body-bar frameworks with Abelian point group symmetries in an arbitrary dimension. In particular, from the patterns of these new matrices, we derive combinatorial characterizations of infinitesimally rigid body-bar frameworks which are generic with respect to a point group of the form $mathbbZ/2mathbbZimesdotsimesmathbbZ/2mathbbZ$. Our characterizations are given in terms of packings of bases of signed-graphic matroids on quotient graphs. Finally, we also extend our methods and results to body-hinge frameworks with Abelian point group symmetries in an arbitrary dimension. As special cases of these results, we obtain combinatorial characterizations of infinitesimally rigid body-hinge frameworks with $mathcal{C}_2$ or $mathcal{D}_2$ symmetry - the most common symmetry groups found in proteins.

Full work available at URL: https://arxiv.org/abs/1402.0039

zbMATH Keywords

body-hinge frameworkinfinitesimally rigid body-bar frameworkssymmetry-adapted rigidity matrices

Mathematics Subject Classification ID

Applications of graph theory (05C90) Rods (beams, columns, shafts, arches, rings, etc.) (74K10) Thin bodies, structures (74K99)

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Cited In (8)

• Infinitesimal Rigidity of Symmetric Bar-Joint Frameworks
• Link Conditions for Cubulation
• Frameworks with forced symmetry. I: Reflections and rotations
• Rigidity of Frameworks on Expanding Spheres
• Symmetric isostatic frameworks with \(\ell^1\) or \(\ell^\infty\) distance constraints
• Title not available (Why is that?)
• Sufficient conditions for the global rigidity of periodic graphs
• Pairing symmetries for Euclidean and spherical frameworks

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