A novel manipulator architecture for the production of SCARA motions
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Bibliographic record
Abstract
SCARA denotes a class of 4-DOF manipulators that exhibit a finite stiffness in four directions of their motion space, while being infinitely stiff in the remaining two directions. These four directions comprise translation along three axes and rotation about one single axis. Therefore, a SCARA is noncompliant in two directions of rotation. SCARA systems were originally developed for assembly tasks. We term here any motion with the foregoing features a SCARA motion. Current manipulators producing this class of motions are invariably designed with a common architecture, namely, three revolutes and one prismatic joint, the latter being indistinctly collocated either at the proximal to the base or at the distal joint. We introduce here a novel architecture producing SCARA motions that is based on what is known as a II-joint, as introduced elsewhere. The kinematics of this manipulator is fully discussed.
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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