Kinematics of a Parallel Robot With Six Pairs of Offset Joints
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Bibliographic record
Abstract
Abstract A 6-P-RR-R-RR parallel-kinematics machine (PKM) with axially offset RR-joints is the subject of this article. Different from the universal joint, an axial offset between the two axes of the RR-joint is included. The offset is intended to prevent joint interference, while enlarging the workspace of the whole PKM. Compared with a 6-PUS PKM, the kinematics of the PKM introduced here is significantly more complex due to the axial offsets. The displacement analysis is conducted numerically, and velocity and acceleration analyses are conducted symbolically. The accuracy and effectiveness of the proposed formulation are verified by numerical simulation in adams. In addition, the workspace, singularity, and dexterity analyses of this new type of PKM are conducted and then compared with those of the 6-PUS mechanism.
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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) | 0.001 | 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