The synthesis of planar parallel manipulators with prismatic joints for an optimal, singularity‐free workspace
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Bibliographic record
Abstract
Abstract The synthesis of three‐degree‐of‐freedom planar parallel manipulators is performed using a genetic algorithm. The architecture of a manipulator and its position and orientation with respect to a prescribed workspace are determined. The architectural parameters are optimized so that the manipulator's constant‐orientation workspace is as close as possible to a prescribed workspace. The manipulator's workspace is discretized and its dexterity is computed as a global property of the manipulator. An analytical expression of the singularity loci (local null dexterity) can be obtained from the Jacobian matrix determinant, and its intersection with the manipulator's workspace may be verified and avoided. Results are shown for different conditions. First, the manipulators' workspaces are optimized for a prescribed workspace, without considering whether the singularity loci intersect it or not. Then the same type of optimization is performed, taking intersections with the singularity loci into account. In the following results, the optimization of the manipulator's dexterity is also included in an objective function, along with the workspace optimization and the avoidance of singularity loci. Results show that the end‐effector's location has a significant effect on the manipulator's dexterity. © 2002 John Wiley & Sons, Inc.
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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