{"id":"W2027943647","doi":"10.1115/1.2717234","title":"Determination of Singularity-Free Zones in the Workspace of Planar 3-PRR Parallel Mechanisms","year":2006,"lang":"en","type":"article","venue":"Journal of Mechanical Design","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":21,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Natural Sciences and Engineering Research Council of Canada; Canada Research Chairs","keywords":"Workspace; Singularity; Planar; Mechanism (biology); Computer science; Gravitational singularity; Algorithm; Geometry; Mathematics; Control theory (sociology); Topology (electrical circuits); Mathematical analysis; Artificial intelligence; Physics; Control (management); Computer graphics (images); Combinatorics; Robot","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":false,"about_ca":false,"invisible_to_affiliation_only":false},"retraction":null,"screen":null,"direct_labels":[],"prediction":{"model_version":"metacan-v3-hybrid-931329e0061c","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.001265429,0.0007769042,0.0008780437,0.001242839,0.0004832381,0.0008686723,0.001396509,0.0006887521,0.002146717],"category_scores_gemma":[0.003734471,0.0004798616,0.0007392876,0.0003940182,0.0007103237,0.00114938,0.001901392,0.0008993286,0.0007730898],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0002486363,"about_ca_system_score_gemma":0.0006913379,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0003832123,"about_ca_topic_score_gemma":0.0003073209,"domain_scores_codex":[0.9994981,0.0001129699,0.00003525395,0.00007672865,0.0002350054,0.0000418788],"domain_scores_gemma":[0.9988883,0.0005254269,0.0001668454,0.000159702,0.0002186219,0.00004117287],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"design_other","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0003739659,0.00007229202,0.00110157,0.0004758777,0.00004780431,0.0005429783,0.0007502632,0.2906958,0.04499149,0.1292234,0.001631477,0.5300931],"study_design_scores_gemma":[0.0001120231,0.0002061068,0.0005526483,0.00008049106,0.00002695963,0.0009115802,0.0001363645,0.8828976,0.03573117,0.06941572,0.009822826,0.000106394],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.006665959,0.00004747351,0.992478,0.00001672041,0.000006454491,0.00002682184,0.00001230211,0.0001943744,0.0005518277],"genre_scores_gemma":[0.1155974,0.00009381097,0.8833931,0.00001120256,0.000009078118,0.00007995379,0.00004643098,0.00007628655,0.0006927089],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.002146717,"threshold_uncertainty_score":0.007181525,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01563995711521291,"score_gpt":0.215338212170782,"score_spread":0.1996982550555691,"validation_status":"score_only:v0-immature-baseline","note":"Baseline scores from an immature model (maturity gate not passed). Scores rank; they never assert a category."}}