Development of high performance intrinsically safe 3-DOF robot
Bibliographic record
Abstract
In our previous work we have introduced the Distributed Active/Semi-Active actuation concept. This paper presents the design of a novel three Degrees-of-Freedom (DOF) robot manipulator based on the DASA actuation approach. The robot is developed as a proof-of-concept prototype intended to demonstrate the capacity of the DASA approach to achieve a high degree of interaction safety as well as performance. Magneto-Rheological (MR) clutches form the basis of the Semi-active actuation component, while a unidirectional motor provides the active drive for the robot. An antagonistic clutch configuration is implemented at the joints to achieve bi-directional actuation without reversal of the motor. MR clutches have been shown to exhibit excellent torque-to-inertia and torque-to-mass ratios making them likely candidates for the development of human-safe actuators. In this paper, the safety characteristics of the DASA approach are qualitatively discussed. Experimental results highlighting the performance capability of the developed robot are given.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".