A new line-symmetric mobile infinity-pod

TL;DR

This paper introduces a novel class of one-degree-of-freedom parallel manipulators with infinitely many legs on a degree ten, genus six curve, utilizing a duality approach to analyze their mobility.

Contribution

It presents a new construction method for line-symmetric infinity-pods based on a duality between leg and configuration spaces.

Findings

The manipulators have infinitely many legs on a degree ten, genus six curve.

Duality explains known mobility phenomena in parallel manipulators.

The technique generalizes the understanding of manipulator mobility.

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.