Design and development of a safe robot manipulator using a new actuation concept
Bibliographic record
Abstract
This paper presents the design and development of a novel two Degrees-Of-Freedom (DOF) safe robot manipulator. Magneto-Rheological (MR) clutches are incorporated in the design to enable antagonistic actuation at the joints. A single unidirectional motor supports bidirectional actuation of all joints. Unlike most current safe robots, high quality actuation is preserved, while the manipulator weight and effective inertia are reduced. This is achieved by relocating the driving motor to the base of the robot. Moreover, MR clutches have been shown to pose superior torque to mass, and torque to inertia characteristics over conventional servo motors, further contributing to the reduction of manipulator mass and inertia. The manipulator exhibits both high performance and intrinsic safety as a result of mechanically passive dynamics. A set of experiments is performed to validate the manipulator performance.
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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".