A Parallel SCARA Robot With Low-Impedance Backdrivability and a Remotely Operated Gripper With Unlimited Rotation
Why this work is in the frame
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Bibliographic record
Abstract
This letter presents a backdrivable (4+1)-degree-of-freedom SCARA parallel robot including a remotely operated gripper with unlimited rotation for intuitive sensorless low-impedance physical human-robot interaction. The kinematic modelling of the robot is first recalled and the novel remotely operated gripper mechanism is presented. This mechanism allows the operation of the gripper from the base actuators while allowing unlimited rotation of the end-effector. The Jacobian matrices are derived and the singularities are briefly discussed. A geometric description of the workspace is then developed to provide insight into the kinematic design of the robot. The design of a prototype is then presented. Experimental results obtained with the prototype are provided, including a demonstration of the force capabilities, the backdrivability and the execution of grasping and pick-and-place tasks. The results clearly demonstrate the low impedance of the robot and its motion and grasping capabilities, which make it ideal for intuitive human-robot interaction without requiring the use of a force/torque sensor.
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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