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Correcting Duporcq's theorem
1Institute of Discrete Mathematics and Geometry, Vienna University of Technology, Wiedner Hauptstrasse 8-10/104, Vienna A-1040, Austria.
Abstract:
In 1898, Ernest Duporcq stated a famous theorem about rigid-body motions with spherical trajectories, without giving a rigorous proof. Today, this theorem is again of interest, as it is strongly connected with the topic of self-motions of planar Stewart-Gough platforms. We discuss Duporcq's theorem from this point of view and demonstrate that it is not correct. Moreover, we also present a revised version of this theorem.
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