{"id":"W4246607511","doi":"10.1115/1.1641189","title":"Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms","year":2004,"lang":"en","type":"article","venue":"Journal of Mechanical Design","topic":"Robotic Mechanisms and Dynamics","field":"Engineering","cited_by":145,"is_retracted":false,"has_abstract":true,"ca_institutions":"Université Laval","funders":"","keywords":"Singularity; Kinematics; Workspace; Jacobian matrix and determinant; Gravitational singularity; Parallel manipulator; Control theory (sociology); Planar; Mathematics; Screw theory; Degrees of freedom (physics and chemistry); Computer science; Topology (electrical circuits); Mathematical analysis; Classical mechanics; Applied mathematics; Robot; Artificial intelligence; Physics; Combinatorics","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":"codex-gemma-dda1882f352a","candidate_categories":[],"consensus_categories":[],"category_scores_codex":[0.001710477,0.0002512463,0.0009554992,0.0003928202,0.00003995311,0.00004265848,0.0003048749,0.000176794,0.00007489802],"category_scores_gemma":[0.0002803565,0.0001971657,0.0002781409,0.0005557938,0.00003334436,0.0001499849,0.00003718997,0.0002902946,0.000004966415],"about_ca_system_candidate":false,"about_ca_system_consensus":false,"about_ca_system_score_codex":0.00007127618,"about_ca_system_score_gemma":0.00007203625,"about_ca_topic_candidate":false,"about_ca_topic_consensus":false,"about_ca_topic_score_codex":0.000003389002,"about_ca_topic_score_gemma":0.000001392911,"domain_scores_codex":[0.9976158,0.0001477266,0.001228542,0.0001582794,0.0005564066,0.0002932481],"domain_scores_gemma":[0.9985614,0.0003599476,0.0003613986,0.0002680636,0.0001733276,0.000275857],"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":[0.00006164666,0.00008013903,2.55898e-7,0.0000997066,0.0006123525,0.00006039457,0.00006060235,0.8489732,0.04775342,0.1018774,0.00002159493,0.000399331],"study_design_scores_gemma":[0.0009754943,0.0006986,0.00002116628,0.0001641463,0.00103263,0.0001661608,0.00004875931,0.6168894,0.006845487,0.3729585,7.710082e-7,0.0001988982],"study_design_candidate":"simulation_or_modeling","study_design_consensus":"simulation_or_modeling","genre_codex":"methods","genre_gemma":"methods","genre_scores_codex":[0.0006466986,0.0001518909,0.9985629,0.0001372271,0.0001759316,0.0002541683,0.000001886799,0.00003809904,0.00003117742],"genre_scores_gemma":[0.1566152,0.0002138449,0.843057,0.00003753084,0.00003144438,0.000004368638,6.001721e-7,0.000031395,0.000008652391],"genre_candidate":"methods","genre_consensus":"methods","teacher_disagreement_score":0.2710811,"threshold_uncertainty_score":0.8040182,"prediction_status":"machine_predicted_unvalidated"},"machine_scores":{"provisional":true,"baseline":true,"maturity_gate_passed":false,"score_opus":0.01908634178157736,"score_gpt":0.2241856477864602,"score_spread":0.2050993060048829,"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."}}