Design development of a prototype multi-module manipulator
Bibliographic record
Abstract
A deployable manipulator is a robotic system that has a combination of revolute and prismatic joints. Based on this concept, the Multi-module Deployable Manipulator System (MDMS) has been developed. It consists of several modules, each having both revolute and prismatic degrees of freedom, connected in series. This class of manipulators offers several useful characteristics with respect to the dynamics and control. This paper presents the design and development of the Multi-module Deployable Manipulator System (MDMS) at the University of British Columbia. The planar manipulator that is developed here is somewhat unique in that it comprises four modules, each of which has one revolute joint and one prismatic joint, connected in a chain topology. The design process involves the selection and sizing of actuators, the design of mounting and connecting components, and the selection of both electrical devices and software for real-time control. Ground-based manipulator systems are useful in assessing, through real-time experimentation, the effectiveness of control procedures for their possible application to space-based systems.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".