Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory
Why this work is in the frame
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Bibliographic record
Abstract
3T1R four-degrees-of-freedom (DOF) parallel manipulators (3T1R-PMs) are the parallel counterparts of the 4-DOF SCARA serial robots. In a 3T1R-PM, the moving platform can generate 3T1R motion (also called Schonflies motion), which refers to a rotation about any axis with a given direction in conjunction with 3-DOF translations. A method is proposed for the type synthesis of 3T1R-PMs based on screw theory. The wrench systems of a 3T1R parallel kinematic chain (3T1R-PKC) and its legs are first analyzed. A general procedure is then proposed for the type synthesis of 3T1R-PMs. The type synthesis of legs for 3T1R-PKCs, the type synthesis of 3T1R-PKCs, as well as the selection of actuated joints of 3T1R-PMs, are dealt with in sequence. 3T1R-PKCs with and without inactive joints are synthesized. The phenomenon of dependent joint groups in a 3T1R-PKC is revealed for the first time. Several 3T1R-PMs with identical type of legs are obtained.
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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