A new line-symmetric mobile infinity-pod

2021/03/30 by Matteo Gallet, Gallet, Matteo, Josef Schicho +1
Computer Science · Mathematics · #Algebraic Geometry (math.AG) #FOS: Computer and information sciences #FOS: Mathematics #Robotics (cs.RO) #cs.RO #math.AG

paper · pdf · doi:10.48550/arxiv.2103.16472

14 pages

arxiv created 2021/03/30 · arxiv updated 2021/03/31

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.

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