Workspace-Based Design of Parallel Manipulators of Star Topology With a Genetic Algorithm
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Bibliographic record
Abstract
Abstract This paper presents the results of the implementation of a genetic algorithm for the design of parallel manipulators of Star topology based on the characteristics of its workspace (W). The algorithm allows to propose new geometries of manipulators that maximize the weighted sum of the volume of W, the percentage of W having a dexterity index greater than a minimum threshold, and a shape ration of W. The algorithm has proven to be effective by proposing a new design that overcomes, by a factor of 3.636, the performances of the original Y Star design, after evaluating the performances of only 2000 alternative designs, which correspond to a traveling of only 2.02 × 10−16% through the search space of this design problem.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| 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) | 0.000 | 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 it