Design of a Reconfigurable Parallel Continuum Robot With Tendon-Actuated Kinematic Chains
Bibliographic record
Abstract
In this letter, a novel spatial parallel continuum robot is proposed. It is composed of three tendon-actuated continuum robots as kinematic chains that are coupled at a common end effector platform by spherical joints. A modular design approach is used, allowing the reconfiguration of each continuum robot's base position and orientation to adapt the overall structure to application specific constraints and environments. The parallel continuum robot is evaluated in terms of its position and orientation repeatability. Furthermore, comparisons are made to the performance of the single continuum kinematic chains. Overall, average position and orientation repeatabilities of 3.3 mm and 1.2° can be achieved for the parallel continuum robot, with a single individual continuum segment showing repeatabilities of 5.5 mm and 3.2°. The proposed parallel continuum robot exhibits improved repeatabilities than each of the employed individual continuum segments, improving the average repeatability by 67% for position and 167% for orientation, respectively.
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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 | 0.001 | 0.000 |
| 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".