{"id":"W4235042797","doi":"10.1115/detc2004-57424","title":"The Design of a Chain of Spherical Stephenson Mechanisms for a Gearless Pitch-Roll Wrist","year":2004,"lang":"en","type":"article","venue":"","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":1,"is_retracted":false,"has_abstract":true,"ca_institutions":"McGill University","funders":"","keywords":"Backlash; Bevel gear; Mechanism (biology); Gear train; Bevel; Kinematics; Vibration; Engineering; Stiffness; Spiral bevel gear; Computer science; Mechanical engineering; Structural engineering; Acoustics; 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":[0.0004267014,0.0005024452,0.0002431635,0.0004252324,0.0002132571,0.0003848523,0.0006273228,0.000538307,0.001961171],"category_scores_gemma":[0.0004325948,0.0002603117,0.0004220693,0.0002411974,0.0002897915,0.0003517963,0.0004251814,0.0002344481,0.0006705748],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.0001411418,"about_ca_system_score_gemma":0.0004298192,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.0001743564,"about_ca_topic_score_gemma":0.000189081,"domain_scores_codex":[0.9998249,0.00003238862,0.00002450849,0.00004452285,0.00005962271,0.00001399031],"domain_scores_gemma":[0.9997706,0.00003305217,0.00007821414,0.00004786029,0.00004556286,0.00002482339],"domain_codex":null,"domain_gemma":null,"domain_candidate":null,"domain_consensus":null,"study_design_codex":"bench_or_experimental","study_design_gemma":"simulation_or_modeling","study_design_scores_codex":[0.0003174942,0.00009973254,0.001933099,0.001069196,0.00005988186,0.0006097706,0.0002957933,0.101182,0.4653165,0.1514174,0.001159639,0.2765394],"study_design_scores_gemma":[0.000320543,0.006257982,0.004680823,0.000491238,0.0002030475,0.004365735,0.0001852427,0.5866448,0.2366948,0.03447558,0.1254952,0.0001850873],"study_design_candidate":"simulation_or_modeling","study_design_consensus":null,"genre_codex":"methods","genre_gemma":"empirical","genre_scores_codex":[0.04944957,0.0006463852,0.9416576,0.0000854258,0.00008438717,0.0001903565,0.00004065257,0.0004135946,0.007432082],"genre_scores_gemma":[0.5141183,0.0005220787,0.4803293,0.00003953393,0.00003722095,0.0002525488,0.0000510752,0.00002768544,0.004622285],"genre_candidate":"empirical","genre_consensus":null,"teacher_disagreement_score":0.001961171,"threshold_uncertainty_score":0.006560802,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01338197540856552,"score_gpt":0.2042921830143107,"score_spread":0.1909102076057452,"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."}}