Kinematic Performance Analysis of a Novel Redundantly Actuated Parallel Mechanism
Bibliographic record
Abstract
This paper presents a novel redundantly actuated parallel mechanism with two rotations and one translation degrees of freedom. Firstly, the kinematic inverse position and the parasitic motion of the parallel mechanism are explicitly expressed. Secondly, the Jacobian matrix of parallel mechanism is derived intuitively via an alternative approach based on the screw theory with consideration the relationships between actuations and constraints. Furthermore, The Jacobian matrix of the cable-driven mechanism is acquired. In combination with the relation, a dimensionally homogeneous Jacobian matrix of the redundantly actuated parallel mechanism is formulated. And more importantly, kinematic performance evaluation indices are established on a case-by-case basis. By numerical examples, performance indices on the kinematic dexterity and stiffness are tremendously improved. The corresponding results illustrate that the proposed parallel mechanism has better kinematic dexterity and superior stiffness performance than the non-redundant parallel mechanism, which proves the validity for applying this redundantly actuated parallel mechanism.
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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 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 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".