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A new line-symmetric mobile infinity-pod
Published 30 Mar 2021 in cs.RO and math.AG | (2103.16472v1)
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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