Singularities of Hinge Structures

Details Singularities of Hinge Structures Singularities of Hinge Structures

2008-12-07

arxiv.org/abs/0812.1373v1

Mathematics

Differential Geometry

Scientific paper

Motivated by the hinge structure present in protein chains and other molecular conformations, we study the singularities of certain maps associated to body-and-hinge and panel-and-hinge chains. These are sequentially articulated systems where two consecutive rigid pieces are connected by a hinge, that is, a codimension two axis. The singularities, or critical points, correspond to a dimensional drop in the linear span of the axes, regarded as points on a Grassmann variety in its Pl\"{u}cker embedding. These results are valid in arbitrary dimension. The three dimensional case is also relevant in robotics.

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