2017/01/31 by Rasoulzadeh, Arvin, Nawratil, Georg
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.1701.09107
A linear pentapod is a parallel manipulator with five collinear anchor points on the motion platform (end-effector), which are connected via extendible legs to the base. This manipulator has five controllable degrees-of-freedom and the remaining one is a free rotation around the motion platform axis (which in fact is an axial spindle). In this paper we present a rational parametrization of the singularity variety of the linear pentapod. Moreover we compute the shortest distance to this rational variety with respect to a suitable metric. Kinematically this distance can be interpreted as the radius of the maximal singularity free-sphere.