Force analysis of minimal self-adaptive fingers using variations of four-bar linkages
Why this work is in the frame
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Bibliographic record
Abstract
Abstract. This paper presents the design and optimization of four versions of self-adaptive, a.k.a. underactuated, fingers based on four-bar linkages. These fingers are designed to be attached to and used with the same standard translational grippers as one finds in the manufacturing and packaging industries. This paper aims at showing self-adaptive fingers as simply as possible and analysing the resulting trade-off between complexity and performance. To achieve this objective, the simplest closed-loop 1 degree-of-freedom (DOF) linkage, namely the four-bar linkage, is used to build these fingers. However, it should be pointed out that if this work does consider a single four-bar linkage as the basic building block of the fingers, four variations of this four-bar linkage are actually discussed, including some with a prismatic joint. The ultimate purpose of this work is to evaluate whether the simplest linkages for adaptive fingers can produce the same level of performance in terms of grasp forces as more complex designs. To this end, a kinetostatic analysis of the four fingers is first presented. Then, the fingers are all numerically optimized considering various force-based metrics, and results are presented. Finally, these results are analysed and prototypes shown.
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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 | 0.001 |
| 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