On the homology of configuration spaces of arachnoid mechanisms

• Autores: Yasuhiko Kamiyama, Shuichi Tsukuda
• Localización: Houston journal of mathematics, ISSN 0362-1588, Vol. 34, Nº 2, 2008, págs. 483-500
• Idioma: inglés
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• Resumen

  • 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.