Computer Aided Linkage Synthesis

Home Curriculum Vitae Experience Publications Teaching Students Bernard Roth Symposium Computer Aided Linkage Synthesis Kinematic Synthesis of Robots Class Work in Linkage Design Special Session at 2002 DETC Geometric Design of Linkages Synthetica 1.0 release Recent Papers Courses in Mechanical Design Mechanical Design in Practice Prototype Development Detailed Design Operations Management Intellectual Property ASME Design Engineering Division Mechanisms Committee Journal of Mechanical Design

Kinematic Synthesis of Robots We are developing new theoretical and software methodologies for the design of specialized robotic systems that provide leveraged spatial movement to accomplish a desired range of tasks. Classwork in Linkage Design This is a collection of Mathematica notebooks and animations generated by my undergraduate students for the class MAE 183 Computer Aided Design of Mechanisms. ASME DETC 2002 Special Session on Computer Aided Linkage Synthesis These papers were presented at the Special Session on Computer Aided Linkage Synthesis at the ASME Mechanisms and Robotics Conference, October 2002, Montreal, Canada. The Geometric Design of Linkages This is a gallery of figures for my book on the kinematic synthesis theory for planar, spherical and spatial serial open chains. Given a workspace specified by a finite set of positions, the constraint equations that characterize the toplogy of the chain are formulated and solved to determine its physical dimensions. Synthetica 1.0 release This is the latest version of our Java-OpenGL system for the computer aided design of spatial serial chains. Please give this software a try and report back your experiences.