From the McGill pepper-mill carrier to the Kindai ATARIGI Carrier: A novel two limbs six-dof parallel robot with kinematic and actuation redundancy
Bibliographic record
Abstract
ATARIGI, a novel two limbs six-dof parallel robot, redundantly driven by eight actuators, is proposed in this paper. By the special arrangement of the mechanism, ATARIGI simultaneously has kinematic redundancy and actuation redundancy. Kinematic redundancy enables singularity avoidance and collision avoidance, that contribute to expanding the workspace. Actuation redundancy generates an internal force that eliminates backlash at the joints, thus increasing the positioning accuracy. Mechanical design of ATARIGI is extended from the McGill Pepper-Mill Carrier, a two limbs parallel Schönflies-motion generator. Inverse displacement analysis and Jacobian analysis of ATARIGI are derived. For utilization of the actuation redundancy and the kinematic redundancy, the null space of each Jacobian matrix is derived by means of computer algebra. The null spaces are simplified in closed form, which eases the control. Numerical tests demonstrate the collision-avoidance between limbs, while keeping the position and orientation of the gripper using the kinematic redundancy.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
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 source (direct Gemma or distilled Codex), 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".