Hexapods with a small linear span
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Publication:6355658
arXiv2012.05120MaRDI QIDQ6355658FDOQ6355658
Authors: Hans-Christian Graf von Bothmer, Matteo Gallet, Josef Schicho 
Publication date: 9 December 2020
Abstract: The understanding of mobile hexapods, i.e., parallel manipulators with six legs, is one of the driving questions in theoretical kinematics. We aim at contributing to this understanding by employing techniques from algebraic geometry. The set of configurations of a mobile hexapod with one degree of freedom has the structure of a projective curve, which hence has a degree and an embedding dimension. Our main result is a classification of configuration curves of hexapods that satisfy some restrictions on their embedding dimension.
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