|Title||Combinatorial classes of parallel manipulators|
|Author(s)|| Jean-Charles Faugère, Daniel Lazard|
|Type||Article in Journal|
|Abstract||The classes of parallel manipulators are listed, which are defined by the constraint that some legs have the same fixation on the platform or on the base. For each class, the generic number of assembly configurations is given. It appears that this number never changes if the constraint of planarity is added.|
Gröbner base computations are widely used for obtaining these results. It appears that this method is now an efficient tool for solving polynomial systems which appear in robot kinematics.
|Journal||Mechanism and Machine Theory|
|Pages||765 - 776|