Parametric Design of a Tendon-Driven Continuum Robot for Industrial Applications
Bibliographic record
Abstract
Continuum robot researchers must often create entirely new prototypes for their applications as existing continuum robot designs do not meet their requirements, especially for industrial applications. To address this issue, we leverage a parametric design for modular units, which can be utilized to create a Tendon-Driven Continuum Robot (TDCR) tailored to specific task requirements. Using a Design of Experiment approach, we identify the relationship between the modular units’ stiffness and dimensions, establishing a mathematical framework to guide TDCR parametrization. A structured workflow is provided to guide the development of TDCRs, from the definition of the task objectives to the experimental validation. For demonstration, an aircraft wing inspection task was selected and an 816 mm TDCR was prototyped using the parametric design approach. The TDCR successfully inspected all target areas in a 1:3 scaled Cessna 172 wing model, yielding a 100% coverage rate.
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How this classification was reachedexpand
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 | 0.001 |
| 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".