Mobile icosapods

DOI10.1016/J.AAM.2016.12.002MaRDI QIDQ2356774zbMATH OpenOpenAlexFDO

Authors Matteo Gallet, Josef Schicho, J. M. Selig, Georg Nawratil

Publication date 6 June 2017

Published in Advances in Applied Mathematics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1603.07304, http://researchopen.lsbu.ac.uk/664/1/Icosopods.pdf

zbMATH Keywords

body-bar frameworkicosapodsline-symmetric motionspectrahedra

Mathematics Subject Classification ID

Classical groups (algebro-geometric aspects) (14L35) Semialgebraic sets and related spaces (14P10) Differential geometric aspects in kinematics (53A17) Kinematics of mechanisms and robots (70B15)

Abstract: Pods are mechanical devices constituted of two rigid bodies, the base and the platform, connected by a number of other rigid bodies, called legs, that are anchored via spherical joints. It is possible to prove that the maximal number of legs of a mobile pod, when finite, is 20. In 1904, Borel designed a technique to construct examples of such 20-pods, but could not constrain the legs to have base and platform points with real coordinates. We show that Borel's construction yields all mobile 20-pods, and that it is possible to construct examples with all real coordinates.

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Cites work

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Cited in

(3)

• A new line-symmetric mobile infinity-pod
• Exceptional Stewart-Gough platforms, Segre embeddings, and the special Euclidean group
• And yet it moves: paradoxically moving linkages in kinematics

Describes a project that uses

Uses Software

• StewartGoughGenus7

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