The Synthesis of Three‐Degree‐of‐Freedom Planar Parallel Mechanisms with Revolute Joints (3‐RRR) for an Optimal Singularity‐Free Workspace
Bibliographic record
Abstract
Abstract In this paper, a method is presented for the synthesis of 3‐RRR planar parallel mechanisms. The method uses a genetic algorithm while considering three different design criteria: the optimization of the mechanism workspace to approach a prescribed workspace, the maximization of the mechanism's dexterity, and the avoidance of singularities inside the mechanism workspace. It is shown that, for a given mechanism, some working modes do not have any corresponding singularity curves located inside the mechanism workspace. Furthermore, a case is presented where, for a given orientation range of the mechanism's end‐effector, there are no parallel singularities located inside the workspace. Finally, two methods are described and compared to deal with the nonuniform units of the mechanism's Jacobian matrix during the dexterity computation. © 2004 Wiley Periodicals, Inc.
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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 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.001 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 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".