Optimum Kinetimatics Design of Drives for Wheeled Mobile Robots Based on Cam-Roller Pairs
Why this work is in the frame
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Bibliographic record
Abstract
This paper proposes innovative drives for omnidirectional and quasi-omni-directional wheeled mobile robots. A novel epicyclic cam transmission is developed to transmit motion in the drives, with some advantages over its gear-train counterparts: low friction, high stiffness, and high precision. In this work, three new indices, the contact ratio in cam transmissions, the generalized transmission index, and the total transmission index, are proposed to evaluate the force and motion transmission qualities. Furthermore, the first two indices are the objective functions of the design of the dual-wheel transmission, the final design thus achieving the best transmission performance. The reported drives have been virtually prototyped.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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