A New Method to Calculate the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators
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Bibliographic record
Abstract
A new method for obtaining the force and moment workspaces of spatial parallel manipulators (PMs) is presented. Force and moment workspaces are regions within which a manipulator can sustain/apply at least a certain value of force or moment in all directions. Here, the force and moment workspaces are found using a method, which explicitly sets the largest possible number of actuators to their maximum limits ensuring that the manipulator is performing at its best possible wrench capabilities. Two cases for obtaining these workspaces are used. The first gives the applicable/sustainable force with a prescribed moment whereas the second one gives the applicable/sustainable moment with a prescribed force. For illustration purposes, the method is applied to a six-degree-of-freedom (DOF) redundantly-actuated spatial PM, the 3-RRṞS. The results are represented graphically as the boundaries of the workspace in the three-dimensional Cartesian space. These workspaces can be used as a powerful tool for path/task planning and PM design.
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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