Abstract
Nowadays, robotic manipulators’ uses are broader than industrial needs. They are applied to perform agricultural tasks, consumer services, medical surgeries, among others. The development of new cost-effective robotic arms assumes a prominent position to enable their wide-spread adoption in these application areas. Bearing these ideas in mind, the objective of this paper is twofold. First, introduce the hardware and software architecture and position-control design for a four Degree of Freedom (DoF) manipulator constituted by high-resolution stepper motors and incremental encoders and a cost-effective price. Secondly, to describe the mitigation strategies adopted to lead with the manipulator’s position using incremental encoders during startup and operating modes. The described solution has a maximum circular workspace of 0.7 m and a maximum payload of 3 kg. The developed architecture was tested, inducing the manipulator to perform a square path. Tests prove an accumulative error of 12.4 mm. All the developed code for firmware and ROS drivers was made publicly available. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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Entrepreneurial Ecosystems (EEs) have attracted the attention of academics, practitioners, and policymakers, that attempt to unlock 'a winning recipe' considering the different EEs pillars in order to ignite entrepreneurship at large. Therefore, understanding the degree of influence of each pillar on Entrepreneurial Initiative (EI) is helpful in framing more effective policies towards entrepreneurship. This study aims to bring a new facet to entrepreneurship research, specifically on decomposing the transformation of EEs and the influence of EEs pillars on EI. The transformation of EEs is shown by a balanced panel approach based on the Global Entrepreneurship Monitor (GEM) dataset over 8 years (2010-2017), comprising 18 countries. The study has several implications for entrepreneurship theory and practice as well as public policy since discusses three main issues, mainly supported by empirical results. First, the results show an unbalanced influence of EEs pillars on EI. Second, results also show the ineffectiveness of institutions in encouraging the desire to act entrepreneurially. Third, entrepreneurship needs to be part of the acculturation process evidencing the importance of collective normative. Therefore, providing the instruments and structures is not enough to encourage individuals to start an entrepreneurial journey. Generally, the results reveal that contextual determinants are significant in fostering entrepreneurial propensity to start a business. But the impact of the nine pillars is not equalized, revealing a fragmented influence with funding measures, R&D transfer, and cultural and social norms discouraging entrepreneurial initiative. Overall, the study contributes to the understanding of a multidimensional perspective on EEs and points future policy directions to overcome the lack of entrepreneurship and amend flawed entrepreneurship policies.

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