Geodesic
Kinematic Analysis of a Pentapod Robot
Journal for geometry and graphics, Tome 10 (2006) no. 2, pp. 173-182.

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The investigated milling robot with an axial spindle as platform is a parallel manipulator. Five legs carry and control the spindle. An algebraic solution of the direct kinematic problem is given by the help of vector calculus. The solutions are determined by the roots of 5 polynomials of degree 4. Therefore, together with a quadratic normalizing condition the number of solutions is not greater than 2048. Compared to our first result this number is strongly reduced but still large. However, numerical solutions of the polynomial equation system show a stable and fast convergence using Newton methods.
Classification : 53A17
Mots-clés : Robotics, spatial mechanisms, constraint parallel manipulators 
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     title = {Kinematic {Analysis} of a {Pentapod} {Robot}},
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     number = {2},
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G. F. B�r; G. Wei� . Kinematic Analysis of a Pentapod Robot. Journal for geometry and graphics, Tome 10 (2006) no. 2, pp. 173-182. http://geodesic.mathdoc.fr/item/JGG_2006_10_2_JGG_2006_10_2_a5/