Design of a 3-Degrees-of-Freedom Cable-Driven Parallel Robot for Automated Construction Based on Workspace and Kinematic Sensitivity
Why this work is in the frame
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Bibliographic record
Abstract
Abstract In recent years, there has been an increased interest in automating construction tasks to produce more affordable houses at an increased production rate. With this in mind, this article explores the design of a suspended cable-driven parallel robot (CDPR) used as an automated platform for in situ construction. The selected robot topology arranges pairs of cables in parallel to connect the frame and mobile platform. This forms a series of parallelograms that restrict the mobile platform to a pure translational motion so long as the cables are maintained in tension. Contrary to previous works, the CDPR is parameterized to allow more freedom in the definition of the orientation of the parallelograms. The CDPR is designed based on workspace and kinematic sensitivity requirements, while avoiding singularities and mechanical interferences throughout the robot’s desired workspace. The result is an optimal CDPR based on the targeted 3D printing and pick-and-place tasks. It is shown that the parallelogram’s orientation can be selected to improve the robot’s kinematic sensitivity.
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Direct model labels (unvalidated)
Per-model category and study-design labels from the labeling rounds. They are machine output, unvalidated, and the disagreement between models ships as data. No study design here is MEDLINE-validated yet.
| Model arm | Categories | Study design | Confidence |
|---|---|---|---|
| gemma | no category Domain: not available · Genre: Methods About the Canadian research system: no · About a Canadian topic: no | Simulation or modeling | low |
| gpt | no category Domain: not available · Genre: Methods About the Canadian research system: no · About a Canadian topic: no | Simulation or modeling | low |
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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 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