{"id":"W2109531749","doi":"10.1115/1.4005336","title":"Singularity Conditionsof 3T1R Parallel Manipulators With Identical LimbStructures","year":2012,"lang":"en","type":"article","venue":"Journal of Mechanisms and Robotics","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":67,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval; Robotiq (Canada)","funders":"","keywords":"Wrench; Singularity; Jacobian matrix and determinant; Screw theory; Gravitational singularity; Mathematics; Parallel manipulator; Constraint (computer-aided design); Rotation (mathematics); Topology (electrical circuits); Graph; Control theory (sociology); Kinematics; Mathematical analysis; Computer science; Geometry; Applied mathematics; Artificial intelligence; Combinatorics; Engineering; Classical mechanics; Physics","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":[0.0003286225,0.0004872274,0.000410422,0.0008155248,0.0004909788,0.0004403193,0.0003713656,0.0004861963,0.002658119],"category_scores_gemma":[0.0007333488,0.0001949226,0.0004669793,0.00024746,0.0008450107,0.000649028,0.0006654756,0.000341339,0.0003588223],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0003449015,"about_ca_system_score_gemma":0.0003040939,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0006239753,"about_ca_topic_score_gemma":0.0004002634,"domain_scores_codex":[0.9996743,0.00004466932,0.00002060011,0.0000586386,0.000155238,0.00004647657],"domain_scores_gemma":[0.9997131,0.00004120879,0.0001014156,0.00003253079,0.0000817004,0.00002989361],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"theoretical_or_conceptual","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0003248513,0.0001006593,0.004737075,0.0002663871,0.00006457421,0.004452227,0.0007748514,0.3041819,0.1841881,0.4367536,0.001049081,0.06310671],"study_design_scores_gemma":[0.00006282685,0.0007493478,0.006659622,0.00004445957,0.00003125262,0.001659023,0.0004123544,0.7696607,0.02635161,0.1902985,0.003993773,0.00007655837],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"empirical","genre_gemma":"empirical","genre_scores_codex":[0.7014346,0.0001563865,0.2855637,0.00008056079,0.00002012505,0.00005596186,0.00007028105,0.0001083159,0.01251002],"genre_scores_gemma":[0.976717,0.00007155496,0.02109649,0.00001498295,0.000009412896,0.00002557571,0.00007793216,0.00001646346,0.001970629],"genre_candidate":"empirical","genre_consensus":"empirical","teacher_disagreement_score":0.002658119,"threshold_uncertainty_score":0.008892298,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.008197675736566238,"score_gpt":0.2007638582561893,"score_spread":0.1925661825196231,"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."}}