The Dimensional Synthesis of Spatial Cable-Driven Parallel Mechanisms
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Bibliographic record
Abstract
This paper presents a method for the dimensional synthesis of fully constrained spatial cable-driven parallel mechanisms (CDPMs), namely, the problem of finding a geometry whose wrench-closure workspace (WCW) contains a prescribed workspace. The proposed method is an extension to spatial CDPMs of a synthesis method previously published by the authors for planar CDPMs. The WCW of CDPMs is the set of poses for which any wrench can be produced at the end-effector by non-negative cable tensions. A sufficient condition is introduced in order to verify whether a given six-dimensional box, i.e., a box covering point-positions and orientations, is fully inside the WCW of a given spatial CDPM. Then, a nonlinear program is formulated, whose optima represent CDPMs that can reach any point in a set of boxes prescribed by the designer. The objective value of this nonlinear program indicates how well the WCW of the resulting CDPM covers the prescribed box, a null value indicating that none of the WCW is covered and a value greater or equal to one indicating that the full prescribed workspace is covered.
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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