A new line-symmetric mobile infinity-pod
This work addresses a specific problem in robotics and mechanical engineering, focusing on manipulator design, and appears incremental as it builds on known phenomena.
The paper tackled the problem of constructing parallel manipulators with one degree of freedom and infinitely many legs on a specific curve, achieving a design based on a duality between leg and configuration spaces.
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.