Self-motions of pentapods with linear platform

2014/07/23 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.1407.6126

28 pages, 5 figures

arxiv created 2015/10/16 · arxiv updated 2015/10/19

Abstract

We give a full classification of all pentapods with linear platform possessing a self-motion beside the trivial rotation about the platform. Recent research necessitates a contemporary and accurate re-examination of old results on this topic given by Darboux, Mannheim, Duporcq and Bricard, which also takes the coincidence of platform anchor points into account. For our study we use bond theory with respect to a novel kinematic mapping for pentapods with linear platform, beside the method of singular-invariant leg-rearrangements. Based on our results we design pentapods with linear platform, which have a simplified direct kinematics concerning their number of (real) solutions.

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