Bond theory for pentapods and hexapods (Q2351532)

The paper under review considers the classical problem of determining necessary conditions for the overconstrained mobility of some mechanical device. In particular, using a method based on a specific compactification of the group of direct isometries of \(\mathbb{R}^3\), the authors show that the mobility of pentapods/hexapods implies either a collinearity condition on the anchor points, or a geometric condition on the normal projections of base and platform points.