A Family of Kinematically Redundant Planar Parallel Manipulators
Why this work is in the frame
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Bibliographic record
Abstract
Parallel manipulators feature relatively high payload and accuracy capabilities compared to their serial counterparts. However, they suffer from small workspace and low maneuverability. Kinematic redundancy for parallel manipulators can improve both of these characteristics. This paper presents a family of new kinematically redundant planar parallel manipulators with six actuated-joint degrees of freedom based on a 3-PṞRR architecture obtained by adding an active prismatic joint at the base of each limb of the 3-ṞRR manipulator. First, the inverse displacement of the manipulators is explained, then their reachable and dexterous workspaces are obtained. Comparing the proposed redundant manipulators to the original 3-ṞRR nonredundant manipulator, both reachable and dexterous workspaces are substantially larger. Next, the Jacobian matrices of the manipulators are derived, and different types of singularities are analyzed and demonstrated. It is shown that the vast majority of singularities can be avoided by using kinematic redundancy.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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 it