Singularity-Free Kinematically Redundant Planar Parallel Mechanisms With Unlimited Rotational Capability
Bibliographic record
Abstract
This paper introduces a novel family of singularity-free kinematically redundant planar parallel mechanisms that have unlimited rotational capabilities. The proposed mechanisms are akin to conventional three-degree-of-freedom planar parallel mechanisms. By introducing a novel kinematically redundant arrangement, four-degree-of-freedom parallel mechanisms are obtained that can completely alleviate singularities and provide unlimited rotational capabilities. The kinematics of the mechanisms are derived, and the Jacobian matrices are obtained. It is shown that the singularities of this type of mechanism are governed by the orientation of a passive link connecting the redundant leg to the platform and that the latter orientation is easily controlled using the kinematic redundancy, thereby alleviating all direct kinematic singularities. An example mechanism is proposed, and a prototype is demonstrated. Example trajectories that include full cycle rotations are shown. The prototype also illustrates the use of the kinematic redundancy for an auxiliary task, namely grasping.
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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) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| 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".