Pentapods with Mobility 2
Robotics
2014-09-05 v2
Abstract
In this paper we give a full classification of all pentapods with mobility 2, where neither all platform anchor points nor all base anchor points are located on a line. Therefore this paper solves the famous Borel-Bricard problem for 2-dimensional motions beside the excluded case of five collinear points with spherical trajectories. But even for this special case we present three new types as a side-result. Based on our study of pentapods, we also give a complete list of all non-architecturally singular hexapods with 2-dimensional self-motions.
Cite
@article{arxiv.1406.0647,
title = {Pentapods with Mobility 2},
author = {Georg Nawratil and Josef Schicho},
journal= {arXiv preprint arXiv:1406.0647},
year = {2014}
}
Comments
18 pages, 5 figures