Presentations Presentation at CUA (ppt file). December, 2003 Poster with kinematic synthesis applications (ppt file). |
The Bennett linkage Dimensional Synthesis of Spatial RR Robots (pdf file). Advances in Robot Kinematics 2000. Dimensional Synthesis of Bennett Linkages (pdf file). ASME DETC 2000. Dimensional Synthesis of Bennett Linkages (pdf file). Journal of Mechanical Design, March 2003. Bennett's Linkage and the Cylindroid (pdf file) Mechanism and Machine Theory, Nov. 2002. |
Dual quaternion synthesis of constrained robots Dual Quaternion Synthesis of Constrained Robots (pdf file). ARK 2002. (It presents the solution for the RPR robot). Here you can also find the presentation for the same conference (with correct counting formula). Dual Quaternion Synthesis of a 2-TPR Constrained Parallel Robot (pdf file). Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec, 2002. Dimensional Synthesis of RPC Serial Robots (pdf file). ICAR 2003, Coimbra, Portugal, June 2003. Here you can also find the presentation for the ICAR conference (powerpoint format, approx. 9MB). Dual Quaternion Synthesis of Constrained Robotic Systems (pdf file). Accepted for publication at the Journal of Mechanical Design, August 2003. (It presents the general theory and the solution for the RPRP and RPC robots). Dimensional Synthesis of CRR Serial Chains (pdf file). ASME DETC 2003. Geometric Design of RRP, RPR and PRR Serial Chains (pdf file). Submitted to Mechanism and Machine Theory, December 2003. |
Master's Thesis This master's thesis document was just part of a work in development that we finished later; for a more complete treatment of the problem, see the journal papers in the Bennett linkage section. My Master's Project (1999): Analysis and Design of Bennett Linkages Appendix-Design of RR Chains- Maple worksheet Appendix-Analysis of RR Chains- Maple worksheet |
Ph.D. Qualifying In the document for my qualifying presentation you can find an overview about techniques and tools for the synthesis of mechanisms. Qualifying document (2001): Geometric Design of Constrained Robotic Systems (pdf file). |
Ph.D. Dissertation Dual Quaternion Synthesis of Constrained Robotic Systems (pdf file) (14.4 MB) |
Applications of the dual quaternion synthesis |