Novel designs of a class of robust and dexterous end-effectors/fixtures for agile assembly
Bibliographic record
Abstract
Agile assembly depends critically on flexible tooling including fixtures, feeders and end-effecters. There are many similarities in geometrical constraint and stability analysis between grasping and fixturing, so we treat them as one case concurrently. In this paper we present a class of novel designs of end-effecters and fixtures. Modularity, reconfigurability and reprogrammability will be a unifying trait of these novel designs. Compared with the parallel jaw grippers, our design has a rotary joint attached to each side of the grip jaw where some pegs are embedded. As a result, the grasp stability can be improved and the total grasp force can be reduced due to adding these constraint. The fixture consists of some blocks and a base. Those blocks can slide on each other, and move in order to clamp the workparts. It is enveloped and form closure in its structure. The planning algorithm is based on a generate and test paradigm. Candidate grasp configurations are generated using heuristics. The test phase involves checking each grasp configuration for force closure.
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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".