Experimental and Theoretical Analysis of a Uni-Drive Modular Robot: Design and Modeling
Why this work is in the frame
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Bibliographic record
Abstract
In this paper, the fundamental principals of design and modeling of so-called uni-drive modular robots are introduced. Lightweight modules are significantly important in the design and application of modular robots. This is achieved in this new class of modular robots by using a single base-mounted drive from which all joints tap power via a central rotating shaft using clutches. The clutches in the uni-drive modular robot are controlled using the pulse width modulation (PWM) technique. The position and velocity of the joints are regulated by controlling the engagement time of the clutches. The design of the mechanical drive unit is presented, with which this new design concept is implemented. The unit consists of two clutches to provide each joint with a bi-directional output while its input is uni-directional. For simulation purposes, a lumped parameter model for the selected type of clutch (spring wrap clutch) is developed. Finally, the experimental and simulation results for the fabricated and modeled mechanical drive unit are presented to show the feasibility of the uni-drive modular robot concept.
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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) | 0.000 | 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 it