A new line-symmetric mobile infinity-pod

Gallet, Matteo; Schicho, Josef

doi:10.5802/cml.81

Gallet, Matteo ¹ ; Schicho, Josef ²

¹ Radon Institute for Computational and Applied Mathematics (RICAM), Austrian Academy of Sciences, Altenbergerstraße 69, 4040 Linz, Austria
² Research Institute for Symbolic Computation (RISC), Johannes Kepler University Linz, Altenbergerstraße 69, 4040 Linz, Austria

Confluentes Mathematici, Tome 14 (2022) no. 1, pp. 35-47.

Résumé

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.

Reçu le : 2021-03-30
Révisé le : 2022-07-25
Accepté le : 2022-07-25
Publié le : 2022-11-21

DOI : 10.5802/cml.81

Classification : 14L35, 70B15
Mots clés : infinity pods, self motions, kinematics

Affiliations des auteurs :

Gallet, Matteo ¹ ; Schicho, Josef ²

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Gallet, Matteo; Schicho, Josef. A new line-symmetric mobile infinity-pod. Confluentes Mathematici, Tome 14 (2022) no. 1, pp. 35-47. doi : 10.5802/cml.81. http://archive.numdam.org/articles/10.5802/cml.81/

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