Design, control and testing of a pick-and-place robot and its novel actuators
Bibliographic record
Abstract
Pick-and-place robots play an important role in industry, performing packaging and assembly tasks. To meet the demand for increasingly fast manipulators, new designs of parallel robots are being developed, as they have distinct speed advantages over their serial counterparts. Recently, a two-limbed, four-degree-of-freedom manipulator with high rotatability of its gripper and an isostatic (fully constrained) structure, the latter improving its assemblability, was introduced. The robot produces Schönflies motion, that is, three independent translations and one rotation about an axis of fixed direction; it is therefore classed as a Schönflies motion generator (SMG). The premiere prototype of this design, termed the PepperMill-Carrier (PMC), was developed and tested, as reported in this thesis. The development of innovative two-degree-of-freedom cylindrical actuators that drive the robot, termed C-drives, is also reported. Workspace analyses and experimental and simulation results are included. The prototypes successfully prove the concepts of the PMC and the C-drive. Recommendations are provided to guide further development.
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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) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| 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".