Pentapods with Mobility 2

2014/06/03 by Georg Nawratil, Nawratil, Georg, Josef Schicho +1
Computer Science · #53A17 #FOS: Computer and information sciences #Robotics (cs.RO) #cs.RO #msc:53A17

paper · pdf · doi:10.48550/arxiv.1406.0647

18 pages, 5 figures

arxiv created 2014/09/04 · arxiv updated 2014/09/05

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.

Related

• Self-motions of pentapods with linear platform
• On the line-symmetry of self-motions of linear pentapods
• Linear Pentapods with a Simple Singularity Variety
• Rational Parametrization of Linear Pentapod's Singularity Variety and the Distance to it
• Hexapods with a small linear span