{"id":"W2418169391","doi":"10.1139/tcsme-2009-0047","title":"GEOMETRIC SYNTHESIS OF PLANAR 3-<i>R<u>P</u>R</i> PARALLEL MECHANISMS FOR SINGULARITY-FREE WORKSPACE","year":2009,"lang":"en","type":"article","venue":"Transactions of the Canadian Society for Mechanical Engineering","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":18,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"Natural Sciences and Engineering Research Council of Canada","keywords":"Workspace; Singularity; Orientation (vector space); Equilateral triangle; Planar; Geometry; Mathematics; Gravitational singularity; Topology (electrical circuits); Mathematical analysis; Combinatorics; Computer science; Artificial intelligence","routes":{"ca_aff":true,"ca_fund":true,"ca_venue":true,"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":[0.0003933841,0.0006149895,0.0004206921,0.0005201984,0.0002122054,0.0004227454,0.0006472964,0.0003536821,0.002083356],"category_scores_gemma":[0.000683448,0.0002962727,0.0006626649,0.0003084098,0.0003820263,0.0004689644,0.0006523109,0.0002872873,0.0005832332],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001960252,"about_ca_system_score_gemma":0.0004394423,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001344409,"about_ca_topic_score_gemma":0.0001631142,"domain_scores_codex":[0.9997528,0.00002902401,0.00001833597,0.00004423566,0.0001297344,0.00002572766],"domain_scores_gemma":[0.9997453,0.00004876934,0.00008751665,0.00004146973,0.00006495206,0.00001204862],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"theoretical_or_conceptual","study_design_scores_codex":[0.00009507518,0.00006982207,0.0004480414,0.0005875065,0.00005413223,0.0005873255,0.0002305981,0.2961878,0.3367776,0.1334873,0.00123463,0.2302401],"study_design_scores_gemma":[0.0001056575,0.00113273,0.001248061,0.0001332907,0.00008502764,0.00207618,0.0001690087,0.6599441,0.2245538,0.06730536,0.04313046,0.0001163019],"study_design_candidate":"theoretical_or_conceptual","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.02978582,0.0001099242,0.9625738,0.0000379474,0.00002674143,0.00004974454,0.00002708195,0.0002787831,0.007110126],"genre_scores_gemma":[0.3593707,0.0001845066,0.6375712,0.0000300774,0.00001423153,0.000135369,0.00008867411,0.00008902865,0.002516126],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.002083356,"threshold_uncertainty_score":0.006969512,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.008319731024741402,"score_gpt":0.1853715643460138,"score_spread":0.1770518333212724,"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."}}