In a recent article the author presented a method to measure the snapping capability -- shortly called snappability -- of bar-joint frameworks based on the total elastic strain energy by computing the deformation of all bars using Hooke's law and the definition of Cauchy/Engineering strain. Within the paper at hand, we extend this approach to frameworks composed of bars and triangular plates by using the physical concept of Green-Lagrange strain. An intrinsic pseudometric based on the resulting total elastic strain energy density cannot only be used for evaluating the snappability but also for measuring the distance to the closest singular configuration. The presented methods are demonstrated on the basis of the 3-legged planar parallel manipulator.

中文翻译：

---

带杆和三角板框架的可折断性和奇异距离

在最近的一篇文章中，作者提出了一种方法，通过使用胡克定律和柯西/工程的定义计算所有杆的变形，基于总弹性应变能来测量杆-接头框架的断裂能力（简称为断裂能力）拉紧。在手头的论文中，我们通过使用格林-拉格朗日应变的物理概念将这种方法扩展到由杆和三角板组成的框架。基于所得总弹性应变能量密度的固有伪度量不仅可用于评估可折断性，还可用于测量到最近奇异配置的距离。所提出的方法是在 3 腿平面平行机械手的基础上演示的。