Resumen de On the homology of configuration spaces of arachnoid mechanisms

Yasuhiko Kamiyama, Shuichi Tsukuda

• We determine the integral homology groups of the configuration space of a certain arachnoid mechanism -- that is, a parallel robot in 3-dimensional Euclidean space having n two-joined legs, with all joints of a fixed length a/2, joined together at a central point q, with the other end of the i-th leg at the i-th vertex of a regular polyhedron P in d-dimensional Euclidean space where d=2,3.