We show that all self-motions of pentapods with linear platform of Type 1 and Type 2 can be generated by line-symmetric motions. Thus this paper closes a gap between the more than 100 year old works of Duporcq and Borel and the extensive study of line-symmetric motions done by Krames in the 1930s. As a consequence we also get a new solution set for the Borel Bricard problem. Moreover we discuss the reality of self-motions and give a sufficient condition for the design of linear pentapods of Type 1 and Type 2, which have a self-motion free workspace.
CITATION STYLE
Nawratil, G. (2018). On the Line-Symmetry of Self-motions of Linear Pentapods. In Springer Proceedings in Advanced Robotics (Vol. 4, pp. 149–159). Springer Science and Business Media B.V. https://doi.org/10.1007/978-3-319-56802-7_16
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