author = {M. Gallet and G. Nawratil and J. Schicho},
title = {{Bond theory for pentapods and hexapods}},
language = {english},
abstract = {This paper deals with the old and classical problem of determining necessary conditions for the overconstrained mobility of some mechanical device. In particular, we show that the mobility of pentapods/hexapods implies either a collinearity condition on the anchor points, or a geometric condition on the normal projections of base and platform points. The method is based on a specific compactification of the group of direct isometries of R3 .},
journal = {Journal of Geometry},
pages = {1--18},
isbn_issn = {0047-2468},
year = {2014},
note = {online first},
refereed = {yes},
length = {18},
url = {http://dx.doi.org/10.1007/s00022-014-0243-1}