Geometric Determination of the Interference-Free Constant-Orientation Workspace of Parallel Cable-Driven Mechanisms
Why this work is in the frame
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Bibliographic record
Abstract
The increasing use of parallel cable-driven mechanisms calls for a better understanding of their behavior and highly efficient algorithms to attenuate their drawbacks at the design stage. One of these drawbacks is the high probability of mechanical interferences between the moving parts of the mechanism. In this paper, the phenomenon is described under the assumption that a cable is a line segment in space. When a mechanical contact occurs between two cables or between a cable and an edge of the end effector, these entities necessarily lie in the same plane, and then the three-dimensional problem becomes two-dimensional. This fact is used to simplify the equations, and leads to exhaustive descriptions of the associated interference loci in the constant-orientation workspace of a cable-driven mechanism. These results provide a fast method to graphically represent all interference regions in the manipulator workspace, given its geometry and the orientation of its end effector.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it