Tensionability of an Arbitrary Two-Link Multibody
Bibliographic record
Abstract
The main problem in cable-driven mechanisms is their tensionability, i.e. maintaining positive tension in all cables against any external load. Since the advent of these mechanisms, it was known that with one redundant cable, one can guarantee the tensionability of a rigid body driven by cables. However, the problem of tensionability in multibody systems driven by cables has remained almost intact. In a previous work by the authors, some necessary conditions on the number of cables and their possible distributions for tensionability of a general multibody were found. However, unlike the rigid body case, the sufficiency of these conditions for the tensionability of a multibody cannot be easily guaranteed. In this paper, we find the necessary and sufficient conditions for the tensionability of an arbitrary two-link multibody. Our approach investigates the equilibrium of such systems first by assuming that the cables can apply force in both directions (pull and push). Then, unidirectional force characteristic of the cables is incorporated and the associated conditions on the cables and their distributions are found. The heart of the method is based on a matrix called dependency matrix which carries the equilibrium properties of the system in a more compact form. Also, it has relatively clear connections to the geometry of the system which makes it easy to use.
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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 | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.003 | 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 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".