The theory of bonds. II: Closed 6R linkages with maximal genus. (English) Zbl 1305.70006

Summary: We study closed linkages with six rotational joints that allow a one-dimensional set of motions. We prove that the genus of the configuration curve of such a linkage is at most five, and give a complete classification of the linkages with a configuration curve of genus four or five. The classification contains new families.


70B15 Kinematics of mechanisms and robots
13P25 Applications of commutative algebra (e.g., to statistics, control theory, optimization, etc.)
14Q99 Computational aspects in algebraic geometry
14N05 Projective techniques in algebraic geometry
Full Text: DOI arXiv


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