Singularity-invariant leg substitutions in pentapods

A pentapod is usually defined as a 5-degree-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators have revealed as an interesting alternative to serial robots handling axisymmetric tools. Their particular geometry permits that, in one tool axis, inclination angles of up to 90 degrees are possible thus overcoming the orientation limits of the classical Stewart platform.