Framed Bertrand and Mannheim Curves in Three-Dimensional Space Forms of Non-zero Constant Curvatures

The purpose of this paper is to generalize definitions of Bertrand and Mannheim curves to non-null framed curves and to non-flat three-dimensional (Riemannian or Lorentzian) space forms. Denote by $\mathbb{M}_q^n(c)$ the $n$-dimensional space form of index $q=0,1$ and constant curvature $c\neq 0$. We introduce two types of framed Bertrand curves and framed Mannheim curves in $\mathbb{M}_q^3(c)$ by using two different moving frames: the general moving frame and the Frenet-type frame. We investigate geometric properties of these framed Bertrand and framed Mannheim curves in $\mathbb{M}_q^3(c)$ that may have singularities. We then give characterizations for a non-null framed curve to be a framed Bertrand curve or to be a framed Mannheim curve. We show that in special cases these characterizations reduce to the well-known classical formulas: $\lambda \kappa+\mu \tau=1$ for Bertrand curves and $\lambda(\kappa^2+\tau^2)=\kappa$ for Mannheim curves. We provide several examples to support our results, and we visualize these examples by using the Hopf map, the hyperbolic Hopf map, and the spherical projection.