Geometric Algorithms for the Computation of the Constant-Orientation Workspace and Singularity Surfaces of a Special 6-RUS Parallel Manipulator
Bibliographic record
Abstract
This paper studies the kinematic geometry of a special 6-RUS parallel manipulator for which the axes of all base actuated R-joints coincide, the centers of all U-joints move along the same circular track, and the platform S-joints coincide in pairs. Particularly, the paper presents a geometric algorithm for the computation of the constant-orientation workspace. An already known methodology has been enhanced to include the physical constraint, modelled as three Bohemian dome surfaces, on the U-joint interference. In addition, the singularity loci for a constant orientation are shown to form a quartic surface. The workspace boundaries and the singularity loci are analytically computed and represented as horizontal cross-sections. Important observations are made on the singularities of general parallel mechanisms with pair-wise coincident S-joints. The paper also introduces the phenomenon that the workspace of some parallel mechanisms is divided into regions corresponding to different branch sets.
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".