Internal redundancy: an approach to improve the dynamic parameters around sharp corners
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Abstract. In recent years, redundancy in parallel manipulators has been studied broadly due to its capability of overcoming some of the drawbacks of parallel manipulators including small workspaces and singular configurations. Internal redundancy, first introduced for serial manipulators, refers to the concept of adding movable masses to some links so as to allow to control the location of the centre of mass and other dynamic properties of some links. This concept has also been referred to as variable geometry. This paper investigates the effects of internal redundancy on the dynamic properties of a planar parallel manipulator while performing a family of trajectories. More specifically, the 3-RRR planar manipulator, where a movable mass has been added to the distal link, is allowed to trace trajectories with rounded corners and different radii. The proposed method uses the manipulator's dynamic model to actively optimise the location of the redundant masses at every point along the trajectory to improve the dynamic performance of the manipulator. Numerical examples are shown to support the idea.
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.
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) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 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