JP Journal of Geometry and Topology
Volume 7, Issue 3, Pages 385 - 395
(November 2007)
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THE HOMOLOGY OF THE CONFIGURATION SPACE OF A SINGULAR ARACHNOID MECHANISM
Yasuhiko Kamiyama (Japan)
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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 in
For some
choice of a,
has singularities. We study the
homology groups of such a singular space.
