Dual-modal control of configuration-dependent linkage vibration in a smart parallel manipulator
Bibliographic record
Abstract
A newly designed lightweight planar parallel manipulator is designed to improve operational speed of electronic manufacturing processes and implement a "smart parallel manipulator" through the integration of a parallel mechanism architecture and active control of linkage vibration using lead zirconate titanate (PZT) transducers. Boundary conditions and mode shapes of intermediate linkage are not conventional due to linkages undergoes constrained rigid body motion. Through numerical simulations using a substructuring dynamic model developed for the parallel manipulator, the boundary condition is determined close to a pinned-pinned boundary condition. This conclusion is confirmed using experimental modal analysis (EMA) using a random motion input. However, it is observed that linkage vibration exhibits configuration-dependency. Based on experimental observations, an assumption is taken to simplify the transfer function from the motor input to linkage vibration. Based on this simplification, a dual-mode modal controller is designed and implemented. Experimental results show that linkage vibration is reduced by over 50%
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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".