Closed-Loop Transmission Routings for Cartesian SCARA-Type Manipulators
Bibliographic record
Abstract
SCARA-type manipulators are widely used in industry. SCARA motions can be produced by serial SCARA arms or by Cartesian rail-mounted mechanisms, such as in overhead cranes. This paper focusses on the latter mechanisms which are referred to here as Cartesian SCARA-type manipulators. When such mechanisms are actuated, the motors are generally moving, which increases the inertia of the system. In this paper, several closed-loop cable/belt routings are proposed in order to allow the actuation of Cartesian SCARA-type manipulators from four actuators fixed to the ground. Then, the kinematic analysis of these routings is performed, which reveals that decoupled actuation is possible and leads to great advantages regarding the power needed. Finally, preferred routings are selected and an example of application is given.
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How this classification was reachedexpand
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 | 0.000 | 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 | 0.000 | 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".