arXiv:2103.16472
A new line-symmetric mobile infinity-pod
A new line-symmetric mobile infinity-pod
著者: Matteo Gallet, Josef Schicho
分類: cs.RO, math.AG
原文アブストラクト
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.