Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
Abstract Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and high dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved using cable loops, as was shown in previous research. In the case of fully constrained CDPRs, cable loops can induce unwanted torques on the moving-platform (MP), causing it to tilt and move away from its intended position, which we call parasitic tilt. Hence, the orientation accuracy of such robots is usually limited. This paper deals with the design, modeling, and prototyping of a planar CDPR with infinite rotations, without parasitic tilt and without an additional motor. This robot, which we call a cable-driven parallel crane (CDPC), is composed of a mobile platform (MP) with an embedded mechanism and a transmission module. The MP is linked to the frame by four cables, three of them acting in parallel, forming in effect a double parallelogram. Among these three parallel cables, two form a cable loop, i.e., they are two strands of the same cable redirected to and from the MP through an embedded pulley. The two-degree-of-freedom (dof) motions of the moving-platform of the CDPC and the internal dof of its embedded mechanism are driven by a total of three actuators, which are fixed to the frame. As a consequence, the overall system is fully actuated, its total mass and inertia in motion is reduced, and it is free of parasitic tilts.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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