{"id":"W2105341868","doi":"10.1017/s0263574708004396","title":"Wrench capabilities of planar parallel manipulators. Part II: Redundancy and wrench workspace analysis","year":2008,"lang":"en","type":"article","venue":"Robotica","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":20,"is_retracted":false,"has_abstract":true,"ca_institutions":"Ontario Tech University; University of Victoria","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Wrench; Workspace; Redundancy (engineering); Polytope; Isotropy; Planar; Torque; Computer science; Hexapod; Serial manipulator; Control theory (sociology); Mathematics; Parallel manipulator; Geometry; Engineering; Mechanical engineering; Robot; Control (management); Physics; Artificial intelligence","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":[0.0004192524,0.0006197388,0.0003014297,0.001167034,0.0001459775,0.0003184313,0.0003749857,0.0001825622,0.002063357],"category_scores_gemma":[0.001850086,0.0001714389,0.0004686045,0.0004604338,0.0004003146,0.0008435557,0.0005935048,0.0002513224,0.0003667624],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001453357,"about_ca_system_score_gemma":0.0002054944,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0004065324,"about_ca_topic_score_gemma":0.0002768504,"domain_scores_codex":[0.9996693,0.00004866518,0.00001982421,0.00004597419,0.0001811025,0.00003511438],"domain_scores_gemma":[0.9991153,0.000365841,0.0002508771,0.0001094414,0.0001299783,0.0000286526],"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":[0.0002806944,0.00006090202,0.003985924,0.0006285176,0.0000818877,0.0005747911,0.000220629,0.6602762,0.116691,0.0307988,0.0005770914,0.1858235],"study_design_scores_gemma":[0.00003537543,0.001023419,0.01171641,0.00009198879,0.00004987464,0.001358987,0.0002295858,0.8605626,0.06706203,0.05350659,0.004281721,0.00008134366],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.5257404,0.001988921,0.454554,0.0001015797,0.00002380222,0.00006764127,0.0003186017,0.0003611426,0.0168439],"genre_scores_gemma":[0.9748383,0.0005264389,0.02273804,0.000007377431,0.00001002675,0.00004150192,0.0002067081,0.00002409704,0.001607603],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.002063357,"threshold_uncertainty_score":0.006902635,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01443511954762309,"score_gpt":0.1920662838542144,"score_spread":0.1776311643065913,"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."}}