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Hexapods with a small linear span
December 09, 2020 Β· Declared Dead Β· π arXiv.org
"No code URL or promise found in abstract"
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Authors
Hans-Christian Graf von Bothmer, Matteo Gallet, Josef Schicho
arXiv ID
2012.05120
Category
math.AG
Cross-listed
cs.RO,
cs.SC
Citations
2
Venue
arXiv.org
Last Checked
3 months ago
Abstract
The understanding of mobile hexapods, i.e., parallel manipulators with six legs, is one of the driving questions in theoretical kinematics. We aim at contributing to this understanding by employing techniques from algebraic geometry. The set of configurations of a mobile hexapod with one degree of freedom has the structure of a projective curve, which hence has a degree and an embedding dimension. Our main result is a classification of configuration curves of hexapods that satisfy some restrictions on their embedding dimension.
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