A Geometric Constructive Approach for the Workspace Analysis of Symmetrical 5-PRUR Parallel Mechanisms (3T2R)
Bibliographic record
Abstract
This paper investigates an important kinematic property, the constant-orientation workspace, of five-degree-of-freedom parallel mechanisms generating the 3T2R motion and comprising five identical limbs of the PRUR type. The general mechanism originates from the type synthesis performed for symmetrical 5-DOF parallel mechanism. In this study, the emphasis is placed on the determination of constant-orientation workspace using geometrical interpretation of the so-called vertex space, i.e., motion generated by a limb for a given orientation, rather than relying on classical recipes, such as discretization methods. For the sake of better understanding a CAD model is also provided for the vertex space. The constructive geometric approach presented in this paper provides some insight into the architecture optimization. Moreover, this approach facilitates the computation of the evolution of the volume of the constant-orientation workspace for different orientations of the end-effector.
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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 | 0.001 | 0.004 |
| 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".