OPTIMUM LAYOUTS FOR WIRE-ACTUATED PARALLEL MANIPULATORS CONSIDERING THEIR STIFFNESS CHARACTERISTICS AND WIRE FAILURE
Bibliographic record
Abstract
In this paper, stiffness of planar translational wire-actuated parallel manipulators is studied. The complete form of the stiffness matrix of the two degrees of freedom manipulators is formulated parametrically. The differential form of the static force balance equations is used to incorporate the variation of wire stiffness with wire length and the change in the Jacobian matrix under external force in the stiffness model. Failure of a wire, for the cases that the wire is disconnected or slack, as well as reconfiguring the anchor positions are investigated and their effects on the workspace of manipulators are presented while satisfying the constraints on wire tension and minimum stiffness. The stiffness characteristics of an example manipulator, before and after a wire failure, are discussed. Optimum layouts of the manipulator, by reconfiguring the positions of wire anchors, are identified to maximize the area of the stiffness maps.
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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 | 0.001 |
| 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 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 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 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".