A new line-symmetric mobile infinity-pod
Robotics
2021-03-31 v1 Algebraic Geometry
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.
Cite
@article{arxiv.2103.16472,
title = {A new line-symmetric mobile infinity-pod},
author = {Matteo Gallet and Josef Schicho},
journal= {arXiv preprint arXiv:2103.16472},
year = {2021}
}
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14 pages