Reconfigurable main‐arm for assembly of all revolute‐only kinematically simple branches
Bibliographic record
Abstract
Within previous work by Podhorodeski and Pittens,a class of kinematically simple (KS) joint layouts was defined for spatial serial joint-assemblies consisting of revolute joints only. The identified KS class of layouts was comprised of main-arms with three successively parallel and/or perpendicular revolute joints and end located spherical joint groups. Arguments of degeneracy and kinematic equivalency can be used to demonstrate that only five unique main-arm layouts belong to the KS class. Within the current work, the design of a reconfigurable main-arm (RMA) allowing the construction of all of the KS branches is examined. Sufficient joints are included within the RMA to allow, by the locking of certain joints and the freeing (actuation) of others, the kinematic attributes of each of the unique KS main-arm layouts to be acquired. It is concluded that five successively perpendicular revolute joints are required within the RMA to allow such reconfiguration. Inverse kinematic solutions are presented for each of the five layouts. Potential RMA applications, use of the RMA for kinematically redundant layouts, and an RMA prototype are discussed. ©2000 John Wiley & Sons, Inc.
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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) | 0.005 | 0.002 |
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".