Abstract
In this work sub-varieties of the Study quadric of rigid-body displacements are investigated. The particular sub-varieties considered are the possible displacements which can be performed by the end-effector of certain PUP linkages. In general these varieties are linear projections of a 4-dimensional Segre variety in 15-dimensional projective space. The different linkages correspond to projections with different centres. For one particular linkage the intersection of three such sub-varieties is studied, this intersection corresponds to the assembly configurations of a parallel robot with 3 such PUP legs.
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Selig, J.M. (2019). Displacement Varieties for Some PUP Linkages. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_4
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DOI: https://doi.org/10.1007/978-3-319-93188-3_4
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