We construct parallel manipulators with one degree of freedom and admitting infinitely many legs lying on a curve of degree ten and genus six. Our technique relies upon a duality between the spaces parametrizing all the possible legs and all the possible configurations of a manipulator. Before describing our construction, we show how this duality helps explaining several known phenomena regarding mobility of parallel manipulators.
A NEW LINE-SYMMETRIC MOBILE INFINITY-POD
Gallet, M.;Schicho, J.
2022-01-01
Abstract
We construct parallel manipulators with one degree of freedom and admitting infinitely many legs lying on a curve of degree ten and genus six. Our technique relies upon a duality between the spaces parametrizing all the possible legs and all the possible configurations of a manipulator. Before describing our construction, we show how this duality helps explaining several known phenomena regarding mobility of parallel manipulators.File in questo prodotto:
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