Workspace Investigation of a Novel Parallel Manipulator
Bibliographic record
Abstract
The manipulator workspace denotes the work area of a manipulator and it is an important foundation of designing a robot. The workspace of a novel symmetrical 4-DOF 3-RRUR parallel manipulator is researched here based on the inverse solution. Five essential conditions of a point within the workspace of the manipulator are presented and the cause of the existence of each condition is given. According to the characteristics of this parallel mechanism and the geometrics, and based on the inverse kinematical solution of the mechanism, the reachable workspace under the five conditions is ascertained. The three-dimensional graph and its section graphs of the workspace are obtained. The thoroughness of the workspace of the manipulator is proved. The mechanism with the advantages of simple symmetric structure and large stiffness can be applied to the developments of four-dimensional force sensors, NC positioning platforms, parallel machine tools and micro-positional parallel manipulators. This work is with great significance to the practical application of the manipulator.
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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 | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| 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".