Optimum Connection Positions for the Redundant Limb in Cable-Based Parallel Manipulators
Bibliographic record
Abstract
Cable-based Parallel Manipulators (CPM) are light-weight manipulators that can reach high accelerations. The difference between the design of CPM and that of rigid-link parallel manipulators is due to the fact that cables can only perform while under tension. Keeping the cables under tension can be achieved by applying a force to the mobile platform by a redundant limb (e.g., cable, spring, or a cylinder) to generate tensile forces in the cables. In this study, an optimization procedure is developed to determine the optimum direction and connection position for the redundant limb. The optimum solution is that at which the difference between the largest and smallest tensions generated in the cables is minimized. The optimization procedure is based on a bounded-search algorithm that minimizes an objective function that represents the difference in the cable tensions generated due to the redundantlimb force. The bounds established in this study on the search increases the speed and efficiency of the search algorithm. The optimization procedure is successfully applied to a spatial 6degree-of-freedom cable parallel manipulator for demonstration.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
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 source (direct Gemma or distilled Codex), 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".