Liaison linkages

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• 作者：Matteo Gallet^a ; ^{matteo.gallet@ricam.oeaw.ac.at" class="auth_mail" title="E-mail the corresponding author} ; Georg Nawratil^b ; ^{nawratil@geometrie.tuwien.ac.at" class="auth_mail" title="E-mail the corresponding author} ; Josef Schicho^c ; ^{josef.schicho@risc.jku.at" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Hexapod ; Stewart Gough platform ; Self motion ; Liaison theory ; Bond theory ; Segre cubic primal
• 刊名：Journal of Symbolic Computation
• 出版年：2017
• 出版时间：March-April 2017
• 年：2017
• 卷：79
• 期：part_P1
• 页码：65-98
• 全文大小：1302 K

文摘

The complete classification of hexapods — also known as Stewart Gough platforms — of mobility one is still open. To tackle this problem, we can associate to each hexapod of mobility one an algebraic curve, called the configuration curve. In this paper we establish an upper bound for the degree of this curve, assuming the hexapod is general enough. Moreover, we provide a construction of hexapods with curves of maximal degree, which is based on liaison, a technique used in the theory of algebraic curves.