Pentapods with Mobility 2

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.