Georg Nawratil: Publications

Articles

1. G. Nawratil: New Performance Indices for 6R Robot Postures. Proc. of the 1st EuCoMeS (M. Husty, H.P. Schröcker eds.), 12pp., Obergurgl February 21-26 2006, Austria, ISBN 3-901249-85-0.
2. G. Nawratil: The Control Number as Index for Stewart Gough Platforms. Advances in Robot Kinematics - Mechanisms and Motion (J. Lenarcic, B. Roth eds.), pages 15-22, Springer, 2006, ISBN 1-4020-4940-4.
3. G. Nawratil: New Performance Indices for 6R Robots. Mechanism and Machine Theory 42 (11) 1499-1511 (2007).
4. G. Nawratil, H. Pottmann, and B. Ravani: Generalized Penetration Depth Computation based on Kinematical Geometry. Journal of Computer Aided Geometric Design 26 (4) 425-443 (2009).
5. G. Nawratil and H. Pottmann: Subdivision Schemes for the fair Discretization of the Spherical Motion Group. Journal of Computational and Applied Mathematics 222 (2) 574-591 (2008).
6. G. Nawratil: New Performance Indices for 6-dof UPS and 3-dof RPR Parallel Manipulators. Mechanism and Machine Theory 44 (1) 208-221 (2009).
7. G. Nawratil: Results on Planar Parallel Manipulators with Cylindrical Singularity Surface. Advances in Robot Kinematics - Analysis and Design (J. Lenarcic, P. Wenger eds.), pages 321-330, Springer, 2008, ISBN 978-1-4020-8599-4.
8. G. Nawratil: Main Theorem on Planar Parallel Manipulators with Cylindrical Singularity Surface. In Proc. of 33. Süddeutsches Differentialgeometrie-Kolloquium (H. Havlicek, F. Manhart, B. Odehnal eds.), pages 35-57, TU Vienna, 2008, ISBN 978-3-902233-04-2.
9. G. Nawratil: On the degenerated cases of architecturally singular planar parallel manipulators. Journal for Geometry and Graphics 12 (2) 141-149 (2008).
10. G. Nawratil: All Planar Parallel Manipulators with Cylindrical Singularity Surface. Mechanism and Machine Theory 44 (12) 2179-2186 (2009). [Technical Report No. 191]
11. G. Nawratil: On the spin surface of RSSR mechanisms with parallel rotary axes. ASME Journal of Mechanisms and Robotics 2 (1) 011009 (2010).
12. G. Nawratil: A new approach to the classification of architecturally singular parallel manipulators. Computational Kinematics (A. Kecskemethy, A. Müller eds.), pages 349-358, Springer, 2009, ISBN 978-3-642-01946-3.
13. G. Nawratil: A remarkable set of Schönflies-singular planar Stewart Gough platforms. Journal of Computer Aided Geometric Design 27 (7) 503-513 (2010). [Technical Report No. 198]
14. G. Nawratil: Main Theorem on Schönflies-singular planar Stewart Gough platforms. Advances in Robot Kinematics - Motion in Man and Machine (J. Lenarcic, M.M. Stanisic eds.), pages 107-116, Springer, 2010, ISBN 978-90-481-9261-8.
15. G. Nawratil: Special cases of Schönflies-singular planar Stewart Gough platforms. New Trends in Mechanisms Science (D. Pisla et al. eds.), pages 47-54, Springer, 2010, ISBN 978-90-481-9688-3.
16. G. Nawratil: Stewart Gough platforms with non-cubic singularity surface. Mechanism and Machine Theory 45 (12) 1851-1863 (2010).
17. G. Nawratil: Stewart Gough platforms with linear singularity surface. In Proc. of 19th IEEE International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD'2010), pages 231-235, ISBN 978-1-4244-6884-3.
18. G. Nawratil and H. Stachel: Composition of spherical four-bar-mechanisms. New Trends in Mechanisms Science (D. Pisla et al. eds.), pages 99-106, Springer, 2010, ISBN 978-90-481-9688-3. [Part of the cumulative Habilitation thesis]
19. G. Nawratil: Reducible compositions of spherical four-bar linkages with a spherical coupler component. Mechanism and Machine Theory 46 (5) 725-742 (2011). [Part of the cumulative Habilitation thesis]
20. G. Nawratil: Self-motions of TSSM manipulators with two parallel rotary axes. ASME Journal of Mechanisms and Robotics 3 (3) 031007 (2011).
21. G. Nawratil: Flexible octahedra in the projective extension of the Euclidean 3-space. Journal for Geometry and Graphics 14 (2) 147-169 (2010). [Part of the cumulative Habilitation thesis]
22. G. Nawratil: On self-motions of planar Stewart Gough platforms. Technical Report No. 214, Geometry Preprint Series, TU Vienna (2010).
23. G. Nawratil: Basic result on type II DM self-motions of planar Stewart Gough platforms. Mechanisms, Transmissions and Applications (E.Ch. Lovasz, B. Corves eds.), pages 235-244, Springer, 2011, ISBN 978-94-007-2726-7.
24. G. Nawratil: Reducible compositions of spherical four-bar linkages without a spherical coupler component. Mechanism and Machine Theory 49 87-103 (2012).
25. G. Nawratil: Necessary conditions for type II DM self-motions of planar Stewart Gough platforms. Technical Report No. 219, Geometry Preprint Series, TU Vienna (2011).
26. G. Nawratil: Planar Stewart Gough platforms with a type II DM self-motion. Journal of Geometry, in press.
27. G. Nawratil: Self-motions of planar projective Stewart Gough platforms. Advances in Robot Kinematics, Springer, in press.
28. G. Nawratil: Review and recent results on Stewart Gough platforms with self-motions. Mechanisms, Mechanical Transmission and Robotics, Trans Tech Publications Ltd, in press.

Theses

1. G. Nawratil: Zur Geometrie von Stewart Gough Plattformen. Master thesis. Institute of Discrete Mathematics and Geometry, TU Vienna, Supervisor: H. Stachel, 2004.
2. G. Nawratil: Neue kinematische Performance Indizes für 6R Roboter und Stewart Gough Plattformen. Doctoral thesis. Institute of Discrete Mathematics and Geometry, TU Vienna, Reviewer: H. Stachel, M. Husty, 2007.
3. G. Nawratil: Flexible octahedra in the projective extension of the Euclidean 3-space and their application. Habilitation thesis. Institute of Discrete Mathematics and Geometry, TU Vienna, 2011.