Abstract: We consider the configuration space of a certain type of arachnoid
mechanism–that is, a parallel robot having n two-joined legs, with all joints of a fixed length joined together at a central point q,
with the other end of the ith leg at
the ith vertex of a regular convex
polygon or polyhedron P inFor some
choice of a,has singularities. We study the
homology groups of such a singular space.
Keywords and phrases: arachnoid mechanism, configuration space, homology.
