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.
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https://cml.centre-mersenne.org/articles/10.5802/cml.81/
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11368/3037701
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