Graphs and Groups

This project is a combination of graphs and group theory in which the aim is to describe the automorphism group of some specific families of graphs. Finally, an example of the application of automorphism groups in reaction graphs is shown. The project is written in english.

Structural Synthesis of 3-DoF Spatial Fully Parallel Manipulators

In this paper, the architectures of three degrees of freedom (3-DoF) spatial, fully parallel manipulators (PMs), whose limbs are structurally identical, are obtained systematically. To do this, the methodology followed makes use of the concepts of the displacement group theory of rigid body motion. This theory works with so-called 'motion generators'. That is, every limb is a kinematic chain that produces a certain type of displacement in the mobile platform or end-effector. The laws of group algebra will determine the actual motion pattern of the end-effector. The structural synthesis is a combinatorial process of different kinematic chains' topologies employed in order to get all of the 3-DoF motion pattern possibilities in the end-effector of the fully parallel manipulator.

Grupos topológicos

The main goal of this work is to give the reader a basic introduction into the subject of topological groups, bringing together the areas of topology and group theory.