Numerical Analysis of the Grasp Configuration of a Planar 3-DOF Linkage-Driven Underactuated Finger
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Bibliographic record
Abstract
This paper proposes a novel method to investigate the grasp sequence of an underactuated (a.k.a. adaptive) finger with three degrees of freedom but only one actuator and find its final configuration. This method considers the magnitude and the sign of the torques generated on the phalanges of the finger through the contact points. By using these torques as indices, the algorithm calculates the values of the joint angles during the grasping sequence until the finger reaches its final configuration. To illustrate the effectiveness of this method a class of a 3-DOF adaptive finger is chosen and analyzed and then, using the proposed methodology, its grasp configuration is calculated when grasping different fixed objects. Finally, simulations are repeated using a dynamic simulation package and the obtained results are compared to the proposed method. The results show that the method can properly estimate the final configuration of the grasp.
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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 it