Workspace-Based Design of Equivalent Compression Spring Legs for a 3-DoF Translational Tensegrity Robot
Bibliographic record
Abstract
Abstract Prior work has led to the development of a three-degree-of-freedom translational tensegrity robot. Due to inherent and unavoidable collisions between the struts of the tensegrity system that is used as the basis of the robot’s development, these were replaced by equivalent compression spring legs (ECSLs). In this paper, multiple ECSL design concepts are proposed to generate the desired force-deflection behavior, with some based on the use of variable radius drums (VRDs). The optimization of the VRD profiles based on the desired force-deflection behavior is demonstrated. The ECSL designs are then compared based on the corresponding size of the robot’s workspace. The impact on its workspace of the robot’s orientation with respect to the gravitational field is analyzed as is the amount of preload introduced in the robot’s members by the ECSLs. Recommendations on preferred ECSL designs are made for different applications.
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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) | 0.000 | 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) | 0.002 | 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".