Structural Optimization of a Spherical Parallel Manipulator Using a Two-Level Approach
Bibliographic record
Abstract
Abstract The Agile Wrist, a spherical wrist with a parallel, isotropic architecture for highest orientational accuracy, is being designed as a module of an 11-degree-of-freedom (dof) robot. The wrist consists of two main elements, the base and the moving plates. The two plates are coupled by means of three identical legs, each of these composed of two links, proximal and distal, coupled to each other by a revolute joint. Each leg, in turn, is coupled to its proximal plate via revolute joints. Moreover, the three axes of the leg-revolute joints are concurrent at the center of the wrist, each axis making an angle of 90° with its neighbor. Direct-drive DC motors are used to rotate the wrist proximal links and electrical brakes and optical encoders are located on each of the motor shafts for control purposes. In this paper we introduce a two-level approach to the optimum design of the proximal link of the Agile Wrist. First, the shape of the midcurve producing minimum stress concentrations is obtained by means of the concept of curve synthesis using cubic splines. At the second level, the optimum cross-section along the midcurve producing a link of minimum weight is determined.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".