Influence of design parameters on the singularities and workspace of a 3-R<u>P</u>S parallel robot
Bibliographic record
Abstract
This paper presents variations in the workspace, singularities, and joint space with respect to design parameter k, which is the ratio of the dimensions of the mobile platform to the dimensions of the base of a 3-RPS parallel manipulator. The influence of the design parameters on parasitic motion, which is important when selecting a manipulator for a desired task, is also studied. The cylindrical algebraic decomposition method and Gröbner-based computations are used to model the workspace and joint space with parallel singularities in 2R1T (two rotational and one translational) and 3T (three translational) projection spaces, where the orientation of the mobile platform is represented using quaternions. These computations are useful in selecting the optimum value for the design parameter k such that the parasitic motions can be limited to specific values. Three designs of the 3-RPS parallel robot, based on different values of k, are analyzed.
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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 | 0.001 | 0.008 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.000 | 0.001 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 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".