Singularity analysis of three-legged, six-dof platform manipulators with urs legs
Why this work is in the frame
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Bibliographic record
Abstract
A special class of platform manipulators is the subject of this paper. These manipulators comprise two platforms connected by three legs, each being composed of one universal (U), one revolute (R) and one spherical (S) joints, which gives the manipulator six degrees of freedom. Hence, two actuators are required per leg. Under the assumption that the two R joints proximal to the fixed platform, and making up the U-joint, are actuated, we derive the differential kinematic relations between actuator joint rates and mobile-platform twist. This model comprises two Jacobian matrices, the forward- and inverse-kinematics Jacobians. These relations are then applied to the singularity analysis of the parallel manipulator developed at Singapore Institute of Manufacturing Technology and Nanyang Technological University.
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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 | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| 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