{"id":"W2060429363","doi":"10.1002/rob.20013","title":"The Synthesis of Three‐Degree‐of‐Freedom Planar Parallel Mechanisms with Revolute Joints (3‐RRR) for an Optimal Singularity‐Free Workspace","year":2004,"lang":"en","type":"article","venue":"Journal of Robotic Systems","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":73,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université de Moncton","funders":"","keywords":"Workspace; Jacobian matrix and determinant; Mechanism (biology); Singularity; Gravitational singularity; Planar; Revolute joint; Computer science; Computation; Control theory (sociology); Parallel manipulator; Topology (electrical circuits); Mathematics; Algorithm; Geometry; Mathematical analysis; Robot; Artificial intelligence; Applied mathematics; Physics; Control (management)","routes":{"ca_aff":true,"ca_fund":false,"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":[0.0005229817,0.0005303166,0.0004402051,0.0004780823,0.0002158154,0.0003635904,0.0006768271,0.0004417794,0.001620987],"category_scores_gemma":[0.0007046739,0.0003590665,0.0007788129,0.0002631999,0.0003268213,0.0002823558,0.0005397137,0.0003475411,0.0003953085],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001540594,"about_ca_system_score_gemma":0.0005904554,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001962386,"about_ca_topic_score_gemma":0.0002158455,"domain_scores_codex":[0.9998417,0.00002575477,0.00001032733,0.00003586196,0.00007053029,0.00001573419],"domain_scores_gemma":[0.9997171,0.00007212772,0.0000839838,0.00005848796,0.00004925875,0.00001910305],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"simulation_or_modeling","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0001277712,0.0001095342,0.0005655307,0.0005097612,0.0001012805,0.0005051487,0.0002346022,0.4700164,0.2516868,0.04776435,0.0008417749,0.2275369],"study_design_scores_gemma":[0.0001649981,0.0006326309,0.000857583,0.00009694412,0.00007712478,0.0009359983,0.00007213474,0.8633103,0.09901198,0.01581932,0.01894901,0.00007190972],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.03898836,0.0001638708,0.9577948,0.0000346504,0.00003218758,0.00006314163,0.00001898658,0.0002650305,0.002639055],"genre_scores_gemma":[0.2919806,0.0001840327,0.705698,0.00002079238,0.000009109127,0.0001571333,0.00004661967,0.00005759518,0.001846305],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001620987,"threshold_uncertainty_score":0.005422711,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.02240195678002494,"score_gpt":0.2133745680016065,"score_spread":0.1909726112215815,"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."}}