Kinematic Analysis of a New 3-DOF Parallel Wrist-Gripper Assembly with a Large Singularity-Free Workspace
Why this work is in the frame
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Bibliographic record
Abstract
This paper introduces a novel dexterous 3-DOF parallel wrist-gripper assembly with a large singularity-free range of motion. It consists of a zero-torsion 2-DOF parallel wrist and a 1-DOF parallel gripper. The wrist produces a 2-DOF sphere-on-sphere pure rolling motion. This large singularity-free 2-DOF sphere-on-sphere pure rolling motion of the wrist allows for smooth and precise manipulation of objects in various orientations, making it suitable for applications such as assembly, pick-and-place, and inspection tasks. Using a geometrical approach, analytical solutions for the inverse and forward kinematics problems of the wrist and gripper are derived. From the inverse kinematic equations, the Jacobian matrices are derived and it is shown that the whole workspace is free of type I and type II singularities. It is shown that with a proper choice of design variables, a large singularity-free range of motion can be obtained. The absence of singularities in the whole workspace of the wrist-gripper assembly is an important feature that enhances its reliability. Finally, the correctness of the derived equations for the wrist inverse and forward kinematics are verified using MSC Adams. These results confirm the feasibility and effectiveness of the proposed parallel wrist-gripper assembly. Overall, the novel parallel wrist-gripper assembly presented in this paper demonstrates great potential for improving the efficiency and flexibility of robotic manipulators in a variety of industrial and research applications.
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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 | 0.002 |
| 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