Design, simulations and optimization of a tracked mobile robot manipulator with hybrid locomotion and manipulation capabilities
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a new mobile robot design based on hybridization of the mobile platform and manipulator arm as one entity for robot locomotion as well as manipulation. The novel mechanical design is described in detail. To analyse the design, a virtual prototype tool was developed with ADAMS software for multi-body dynamic motion simulations of the complete robotic system. The simulation results were used to study the robot's mobility characteristics through animations of different possible tasks that require various locomotion and manipulation capabilities. The ability to visualize and validate various robot mobility cases and to study its functionality in the early design stages aided in optimizing the design and hence dramatically reduce physical prototype development time and cost. The design optimization process also involved proper components selection. Moreover, the simulations enabled us to define motor torque requirements and maximize end-effector payload capacity for different robot configurations.
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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