论文标题
线性跨度很小的六脚架
Hexapods with a small linear span
论文作者
论文摘要
理解移动六足动物，即具有六腿的平行操纵器，是理论运动学中的驱动问题之一。我们旨在通过采用代数几何形状的技术来为这种理解做出贡献。具有一个自由度的移动Hexapod的一组配置具有投影曲线的结构，因此具有一个学位和嵌入维度。我们的主要结果是对六足动物的配置曲线的分类，这些曲线满足了对其嵌入维度的一些限制。
The understanding of mobile hexapods, i.e., parallel manipulators with six legs, is one of the driving questions in theoretical kinematics. We aim at contributing to this understanding by employing techniques from algebraic geometry. The set of configurations of a mobile hexapod with one degree of freedom has the structure of a projective curve, which hence has a degree and an embedding dimension. Our main result is a classification of configuration curves of hexapods that satisfy some restrictions on their embedding dimension.
