Investigation of axial forces on dynamic properties of a flexible 3-PRR planar parallel manipulator moving with high speed
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Bibliographic record
Abstract
SUMMARY The effect of axial forces on the dynamic properties is formulated and investigated for a 3-PRR planar parallel manipulator with three flexible intermediate links. A dynamic model of the manipulator system is developed based on the assumed mode method with the consideration of the effect of longitudinal forces on lateral stiffness is included. The flexible intermediate links are modeled as Euler–Bernoulli beams with pinned-pinned boundary conditions, which are verified by experimental modal tests. Natural frequencies of bending vibration of the intermediate links are derived as the functions of axial force and rigid-body motion of the manipulator. Dynamic behavior including the effect of axial forces on lateral deformation is investigated, and configuration-dependant frequencies are analyzed. Numerical simulations of configuration-dependent frequency properties and axial forces are performed to illustrate the effect of axial forces on the dynamic behaviors of the flexible parallel manipulator. Simulation results of mode amplitudes, deformations, axial forces, inertial, and coupling forces are presented, and further validate the theoretical derivations. These analyses and results provide a new and valuable insight to the design and control of the parallel manipulators with flexible intermediate links.
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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)
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Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
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