Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions
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Bibliographic record
Abstract
Abstract This article unifies the approaches of kinematic and static modeling, and singularity analysis for tendon-driven parallel continuum robots under constant curvature as well as pseudo-rigid-body assumptions with those implemented in conventional rigid parallel robots. Constraint conditions are determined for the legs of this type of parallel continuum robots based on which the velocity equations and Jacobian matrices are derived. These are further exploited for inverse kinematic and singularity analysis. Static models for the robot as well as for each of the continuum links under pseudo-rigid-body assumption are derived. Finally, a simulation example is given to validate the kinematic models. It is shown that singularities can be determined using Grassmann line geometry or by detecting the numerical values of three performance indices.
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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 | 0.000 |
| 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