Type synthesis of 3T1R 4-DOF parallel manipulators based on screw theory
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.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.001 |
| Bibliometrics | 0.001 | 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) | 0.002 | 0.001 |
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".