Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor
Bibliographic record
Abstract
Abstract This article presents a novel architecture for the actuation and transmission system of a 5-degrees-of-freedom (DOFs) compliant robot manipulator. The compliant behavior of the robot is achieved using inherently compliant magneto-rheological (MR) clutches introduced in antagonistic pairs in every joint of the manipulator. All five antagonistic MR clutch pairs are driven using a single brushless DC motor located in the base of the robot. The MR clutch pairs are coupled to the motor through a system of shafts, belts, and gears. Several possible architectures for realizing a suitable drive train are presented, and the advantages and disadvantages of each concept are analyzed. The most efficient architecture for the drive train is selected to complete the design of the manipulator. The kinematics of the manipulator using the adopted architecture is further analyzed, and the workspace of the system is presented. To the best of our knowledge, this is the first 5-DOF, fully actuated, compliant robotic manipulator that uses a single DC motor to achieve five independent axes of rotations.
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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) | 0.002 | 0.001 |
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".