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  • @article{RISC5080,
    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}