A new line-symmetric mobile infinity-pod

DOI10.5802/CML.81MaRDI QIDQ2099401zbMATH OpenOpenAlexFDO

Authors Matteo Gallet, Josef Schicho

Publication date 23 November 2022

Published in Confluentes Mathematici (Search for Journal in Brave)

Copyright license Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International

Full work available at URL https://arxiv.org/abs/2103.16472

zbMATH Keywords

infinity podskinematicsself motions

Mathematics Subject Classification ID

Classical groups (algebro-geometric aspects) (14L35) Kinematics of mechanisms and robots (70B15)

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.

Review text

The authors construct parallel manipulators having one degree of freedom and admitting infinitely many legs lying on a curve. This curve has degree ten and genus six. The technique presented has to do with a duality between the spaces parametrizing all the possible legs and all the possible configurations of a manipulator. The authors show how this duality explain important phenomena regarding mobility of parallel manipulators.

Recommendations

• Mobile icosapods
• Mobile 6-SPS Parallel Manipulators
• scientific article; zbMATH DE number 1424267
• Stewart-Gough platforms with simple singularity surface
• Liaison linkages

Cites work

• And yet it moves: paradoxically moving linkages in kinematics
• Bond theory for pentapods and hexapods
• Classification of all self-motions of the original Stewart-Gough platform
• Die Borel-Bricard-Bewegung mit punktweise gekoppelten orthogonalen Hyperboloiden
• scientific article; zbMATH DE number 939815 (Why is no real title available?)
• scientific article; zbMATH DE number 867234 (Why is no real title available?)
• Mobile icosapods
• Planar Stewart Gough platforms with a type II DM self-motion
• Quartic spectrahedra
• Self-motions of Stewart-Gough platforms
• Types of self-motions of planar Stewart Gough platforms

Cited in

(2)

• Mobile icosapods
• Liaison linkages

Describes a project that uses

Uses Software

• Macaulay2

This page was built for publication: A new line-symmetric mobile infinity-pod

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2099401)