Patents
Patent No. 4,865,376 Sept. 12, 1989, Mechanical Fingers for Dexterity and Grasping, S.O. Leaver and J. M. McCarthy, inventors.
Books
 J. M. McCarthy (Editor), Kinematics of Robot Manipulators, MIT Press, Cambridge, MA, 1987, (reprint of IJRR 5:2.)
 J. M. McCarthy, An Introduction to Theoretical Kinematics, MIT Press, Cambridge, MA, 1990.
 J. M. McCarthy, Geometric Design of Linkages, (Interdisciplinary Applied Mathematics Series), SpringerVerlag, New York, 2000.
Book Chapters
 J. M. McCarthy and R. M. C. Bodduluri, "A Bibliography on Robot Kinematics, Workspace Analysis, and Path Planning," Robotics Review 1, edited by O. Khatib, pp. 267281, MIT Press, 1990
 J. M. McCarthy and K. J. Waldron, "Chapter 5: Analysis and Synthesis of Spatial Mechanisms," Forty Years of Modern Kinematics: A Tribute to Ferdinand Freudenstein, edited by A. G. Erdman, John Wiley, 1993
 R. M. C. Bodduluri, Q. J. Ge, J. M. McCarthy and B. Roth, "5.4: The Synthesis of Spatial Linkages," Forty Years of Modern Kinematics: A Tribute to Ferdinand Freudenstein, edited by A. G. Erdman, John Wiley, 1993.
 J. M. McCarthy, "4.6: Dual Quaternions and the Pole Triangle," Forty Years of Modern Kinematics: A Tribute to Ferdinand Freudenstein, edited by A. G. Erdman, John Wiley, 1993.
 J. M. McCarthy and G. L. Long, "20: Linkages and Cams," The Engineering Handbook, edited by R. C. Dorf, pp. 203209, CRC Press, 1995.
 D. A. Ruth and J. M. McCarthy, "The Design of Spherical 4R Linkages for Four Specified Orientations," Computational Methods in Mechanisms, (J. Angeles, and E. Zakhariev, eds.), SpringVerlag, 1998.
 S. G. Ahlers and J. M. McCarthy, "The Clifford Algebra of Double Quaternions and the Optimization of TS Robot Design," Applications of Clifford Algebras in Computer Science and Engineering, (E. Bayro and G. Sobczyk, editors), Birkhauser, 2000.
 J. M. McCarthy and Leo Joskowitz, "Kinematic Synthesis," Formal Engineering Design Synthesis, (J. Cagan and E. Antonson, eds.), Cambridge Univ. Press.
 J. M. McCarthy and HaiJun Su, “The Computation of Reachable Surfaces for a Specified Set of Spatial Displacements,” (E. Bayro, editor) Handbook of Computational Geometry for Pattern Recognition, Computer Vision, Neurocomputing and Robotics, Springer Verlag. (in press 2003)
 J. M. McCarthy and G. L. Long, "20: Linkages and Cams," The Engineering Handbook, edited by R. C. Dorf, CRC Press, revised version 2003. (in press 2003)
Editor
 J. M. McCarthy, Guest Editor, International Journal of Robotics Research, Vol. 5, No. 2, June 1986, special issue featuring the Kinematics of Manipulators.
 J. M. McCarthy (with S. Derby and A. Pisano) Proceedings of the1990 ASME Design Technical Conferences: DEVol. 24, Flexible Mechanism, Dynamics, and Robot Trajectories, DEVol. 25,Mechanism Synthesis and Analysis, and DEVol 26, Cams, Gears, and Robot and Mechanism Design.
 J. M. McCarthy (with F. Park), Guest Editor, J. of Robotics Systems, special issue "Perspectives in Robotics," June 1995.
 S. Azarm, D. Dutta, H. Eschenauer, B. Gilmore, M. McCarthy, M. Yoshimura, editors, Advances in Design Automation, Proceedings of the 1995 Design Engineering Technical Conferences, Sept. 1720, 1995, Boston, MA.
 J. M. McCarthy, editor, CDROM Proceedings of the ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference, August 1822, 1996, Irvine, CA.
 J. M. McCarthy, editor, Abstracts of the ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference, August 1822, 1996, Irvine, CA.
 J. M. McCarthy, editor, CDROM Proceedings of the Celebratory Symposium for Bernard Roth, June 2021, 2003, Stanford, CA.
Software
 Sphinx, 0.4, (June 1993). Interactive graphics system for the design of spherical 4R mechanisms. Developed using several NSF research grants and distrubuted free to research institutions to promote design of spatial mechanisms. Universities: MIT, Boston Univ., Purdue Univ., Notre Dame Univ., Univ. of Minn., Univ. of Florida, Univ. of Wisconsin, Milwaukee. Industry: John Deere, Inc.
 Sphinx, 1.0, (September 1994). Interactive graphics system for the design of spherical 4R mechanisms (a detailed revision of version 0.4 ) distributed to attendees of the "Design of Spatial Mechanisms" Tutorial. September 10, 1994, ASME Design Technical Conferences, Minneapolis, MN. Sponsored by the ASME Mechanisms Committee.
 SphinxPC 96 (August 1996). Windows95 based C++ and OpenGL version of Sphinx 1.0 with the added capability to design planar 4R linkages. Distributed to over 50 university and industrial researchers.
 SphinxPC 97 (March 1997). A revision of SphinxPC 96, distributed 30 university and industry researchers. Used by students in ME183, Spring 97. Featured in Mechanical Engineering Magazine “Software Exchange,” September 1997.
 SphinxPC AdCap (August 1998). Latest revision of SphinxPC 97. Used by students in ME183. Distributed free of charge via Internet.
 Synthetica 1.0 (September 2002). Javabased computer aided design system for contrained robotic systems.
Refereed Journal Articles
 J. M. McCarthy and B. Roth, "The Curvature Theory of Line Trajectories in Spatial Kinematics," ASME Journal of Mechanical Design, Vol. 103, No. 4, October 1981.
 J. M. McCarthy and B. Roth, "The Instantaneous Properties of Trajectories Generated by Planar, Spherical and Spatial Rigid Body Motion," ASME Journal of Mechanical Design, Vol. 104, No. 1, January 1982.
 J. M. McCarthy, "Planar and Spatial Rigid Motion as Special Cases of Spherical and 3Spherical Motion," ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 105, No. 3, Sept. 1983, pp. 569575.
 W. Holzmann and J. M. McCarthy, "Computing the Friction Forces Associated with a ThreeFingered Grasp," IEEE Journal of Robotics and Automation, Vol. RA1, No. 4, Dec. 1985, pp. 206210.
 J. Abel, W. Holzmann and J. M. McCarthy, "On Grasping Planar Objects with Two Articulated Fingers," IEEE Journal of Robotics and Automation, Vol. RA1, No. 4, Dec. 1985, pp. 211214.
 J. M. McCarthy, "The Generalization of Line Trajectories in Spatial Kinematics to Trajectories of Great Circles on a Hypersphere," ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 108, March 1986, pp. 6064.
 J. M. McCarthy and B. Ravani, "Differential Kinematics of Spherical and Spatial Motions Using Kinematic Mapping," ASME Journal of Applied Mechanics, Vol. 53, March 1986, pp. 1522.
 J. M. McCarthy, "On the Relation Between Kinematic Mappings of Planar and Spherical Displacements," ASME Journal of Applied Mechanics, Vol. 53, June 1986, pp. 457459.
 J. M. McCarthy, "Dual Orthogonal Matrices in Manipulator Kinematics," International Journal of Robotics Research, Vol. 5, No. 2, June 1986, (special issue on Kinematics).
 J. M. McCarthy, "The Instantaneous Kinematics of Line Trajectories in terms of a Kinematic Mapping of Spatial Rigid Motion," ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 109, No. 1, March 1987, pp. 95100.
 J. M. McCarthy, "On the Scalar and Dual Formulations of the Curvature Theory of Line Trajectories," ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 109, No. 1, March 1987, pp. 101106.
 J. M. McCarthy, "The Differential Geometry of Curves in an Image Space of Spherical Kinematics," Mechanism and Machine Theory, Vol. 22, No. 3, 1987, pp. 205211.
 J. M. McCarthy, "On the Image Curve of the Coupler Motion of a Special Spherical Four Bar Linkage," ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 110, No. 3, 1988, pp. 276280.
 Qiaode Ge and J. M. McCarthy, "On the Image Curve of a Spherical Epicyclic Gear Train," ASME Journal of Mechanisms, Transmissions, and Automation in Design, Vol. 110, No. 3, 1988, pp.281286.
 S. O. Leaver, J. M. McCarthy, and J. E. Bobrow, "The Design and Control of a Robot Finger for Tactile Sensing," Journal of Robotic Systems, 5:567581, 1988.
 Qiaode Ge and J. M. McCarthy, "The Algebraic Classification of the Image Curves of Spherical FourBar Motion," ASME Journal of Mechanical Design, 113(3):227231, 1991.
 Q. Ge, and J. M. McCarthy, "Functional Constraints as Algebraic Manifolds in a Clifford Algebra," IEEE Journal Robotics and Automation, October 1991 7(5):670677.
 R. M. C. Bodduluri and J. M. McCarthy, "Finite Position Synthesis Using the Image Curve of Spherical FourBar Motion," ASME Journal of Mechanical Design, 114(1):5560, 1992.
 J. M. McCarthy and J. E. Bobrow, "The Number of Saturated Actuators and Constraint Forces During TimeOptimal Movement of a General Robotic System," IEEE Journal of Robotics and Automation, June 1992, 8(3):407409.
 G. L. Long, J. M. McCarthy, and R. P. Paul, "Kinematic Modules for SingularityFree Movement with Three Cartesian Freedoms," ASME Journal of Mechanical Design, 115(2):207213, 1993
 J. M. McCarthy, "The Opposite Pole Quadrilateral as a Compatibility Linkage for the Parameterization of the Center Point Curve," ASME Journal of Mechanical Design, 115(2):332336, 1993
 J. M. McCarthy, "A Parameterization of the Central Axis Congruence Associated with Four Positions of a Rigid Body in Space," ASME Journal of Mechanical Design, 115(3):547551, 1993.
 J. E. Bobrow, J. M. McCarthy, and V. K. Chu, "TimeOptimal Control of Two Robots Holding the Same Workpiece," ASME Journal of Dynamic Systems, Measurement and Control, 115(3):441446, 1993.
 P. Larochelle, J. M. McCarthy, and J. E. Bobrow, "Determining Maximum Payloads for Cooperating Robots Under Time Optimal Control," Int. J. of Robotics and Computer Integrated Manufacturing, 10(6):437443, 1994.
 J. M. McCarthy, "The Synthesis of Planar RR and Spatial CC Chains and the Equation of a Triangle," Special Combined Issue of the ASME J. of Mechanical Design and J. of Vibration and Acoustics, 117(B):101106, June 1995.
 A. P. Murray and J. M. McCarthy, "Determining Burmester Points from the Analysis of a Planar Platform," ASME J. of Mechanical Design, 117(2A):303307, June 1995.
 P. Larochelle and J. M. McCarthy, "Planar Motion Synthesis using an Approximate Biinvariant Metric,"ASME Journal of Mechanical Design. 117(4):646651, December 1995.
 A. P. Murray and J. M. McCarthy, "Passing a Centralaxis Congruence through Six Arbitrary Lines in Space," ASME J. of Mechanical Design. 118(4):515519, December 1996.
 A. P. Murray and J. M. McCarthy, "Centerpoint Curves through Six Arbitrary Points," ASME Journal of Mechanical Design, 119(1):3639, March 1997.
 A. P. Murray, F. Pierrot, P. Dauchez, and J. M. McCarthy, "A Planar Quaternion Approach to the Kinematic Synthesis of a Parallel Manipulator," Robotica, 15:4, July 1997.
 F. Hao and J. M. McCarthy, "Conditions for Linebased Singularities in Spatial Platform Manipulators," Journal of Robotic Systems, 15(1):4355, 1998.
 C. L. Collins and J. M. McCarthy, "The Quartic Singularity Surface of a Planar Platform in the Clifford Algebra of the Projective Plane," Mechanism and Machine Theory, 33(7): 931944, 1998.
 DunnRankin, D., Bobrow, J.E., Mease, K.D., and McCarthy, J.M., "Engineering Design in Industry: A Course to Teach Students and Faculty Design", ASEE Journal of Engineering Education, 87(3):219222, July 1998.
 K. R. Etzel and J. M. McCarthy, "Interpolation of Spatial Displacements using the Clifford Algebra of E4," ASME Journal of Mechanical Design, 121(1):3944, 1999.
 A. P. Murray and J. M. McCarthy, "Burmester Lines for Five Position Synthesis from the Analysis of a 3CPC Platform," ASME Journal of Mechanical Design, 121(1):4549, 1999.
 D. A. Ruth and J. M. McCarthy, "The design of spherical 4R linkages for four specified orientations," Mechanism and Machine Theory, 34:677694, 1999.
 J.M. McCarthy and R.M.C. Bodduluri, "Avoiding singular configurations in finite position synthesis of spherical 4R linkages," Mechanism and Machine Theory, 35:451462, 2000.
 Qizheng Liao and J. M. McCarthy, "On the Seven Position Synthesis of a 5SS Platform Linkage," ASME Journal of Mechanical Design, 123:7479, 2001.
 M. Bodduluri and J. M. McCarthy, "Xray Guided Robotic Radiosurgery for Solid Tumors," Industrial Robot Journal, 29:3, March 2002.
 C. L. Collins, J. M. McCarthy, A. Perez, and H. Su, "The Structure of an Extensible Java Applet for Spatial Linkage Synthesis," ASME Journal of Computing and Information Science and Engineering, 2(1):4549, March 2002.
 A. Perez and J. M. McCarthy, "Bennett’s Linkage and the Cylindroid," Mechanism and Machine Theory, 37(11):12451260, November 2002.
 H. Su, C. Collins, J. M. McCarthy, "Classification of RRSS Linkages," Mechanism and Machine Theory, 37(11):14131433, November 2002.
 A. Perez and J. M. McCarthy, "Dimensional Synthesis of Bennett Linkages," ASME Journal of Mechanical Design, 125(1):98104, March 2003.
 H. Su, P. Dietmaier, J. M. McCarthy, “Trajectory Planning for Constrained Parallel Manipulators,” ASME Journal of Mechanical Design, March 2003 (in press).
 H. Su, C. W. Wampler, and J. M. McCarthy, “Geometric Design of Cylindric PRS Serial Chains,” ASME Journal of Mechanical Design, July 2003 (in press).
 A. Perez and J. M. McCarthy, “Dual Quaternion Synthesis of Constrained Robotic Systems,” ASME Journal of Mechanical Design September 2003 (in press)
Refereed Conference Papers
 J. M. McCarthy, "Differential Kinematics on a 3Sphere," Proceedings of the Sixth World Congress on the Theory of Machines and Mechanisms (IFToMM), December 15, 1983, New Delhi, India.
 W. Holzmann and J. M. McCarthy, "Computing the Friction Forces Associated with a ThreeFingered Grasp," Proceedings of the IEEE Robotics and Automation Conference, St. Louis, MO, March 1985.
 J. Abel, W. Holzmann and J. M. McCarthy, "On Grasping Planar Objects with Two Articulated Fingers," Proceedings of the IEEE Robotics and Automation Conference, St. Louis, MO, March 1985.
 J. M. McCarthy, "The Symbolic Computation of MultiVectors Using Logo," Proceedings of the ASME Computers in Engineering Conference, Boston, MA, August 1985.
 J. M. McCarthy, "Kinematic Mappings and Robotics," Proceedings of the IEEE Robotics and Automation Conference, San Francisco, CA, April 1986.
 J. M. McCarthy, "The Differential Properties of the Image Curve of General Spherical Four Bar Motion," Proceedings of the Seventh World Congress on the Theory of Machines and Mechanisms (IFToMM), Seville, Spain, Sept. 1987, pp. 289292
 S. O. Leaver and J. M. McCarthy, "The Design of Three Jointed Twodegreeoffreedom Robot Fingers," Proceedings of the 1987 Design Automation Conference, Vol. 102, pp. 127134.
 J. M. McCarthy, "On the Image Curve of the Coupler Motion of a Special Spherical Four Bar Linkage," Proceedings of the 1987 ASME Design Automation Conference, Boston, MA, Sept. 1987, Vol. 102, pp. 311316.
 Qiaode Ge and J. M. McCarthy, "On the Image Curve of a Spherical Epicyclic Gear Train," Proceedings of the 1987 ASME Design Automation Conference, Boston, MA, Sept. 1987, pp. 363368.
 J. M. McCarthy, "The Hypersphere and Dual Hypersphere as Configuration spaces of Three Link Manipulators," Proceedings of the IASTED International Symposium on Robotics and Automation, May 2729, 1987, Santa Barbara, CA., pp. 132136
 J. M. McCarthy, "Configuration Manifolds for the SelfMotion of Redundant 4R, 5R, and 6R Planar Robots, NATO Advanced Research Workshop: "Robots with Redundancy: Design, Sensing and Control," June 27July 1, 1988, Salo, Italy.
 J. M. McCarthy, Q. Ge, and R. M. C. Bodduluri,"The Analysis of Cooperating Planar Robots in the Configuration Manifold of the Workpiece," Advances in Robot Kinematics, International Meeting, Ljubljana, Yugoslavia, Sept. 1921, 1988.
 R. M. C. Bodduluri and J. M. McCarthy, "Finite Position Synthesis Using the Image Curve of Spherical FourBar Motion," Proceedings of the ASME Mechanisms Conference, DEVol. 1, pp. 445450, Orlando, FL, Sept. 1988.
 Qiaode Ge and J. M. McCarthy, "Classification of the Image Curves of Spherical FourBar Linkages," Proceedings of the ASME Mechanisms Conference, Orlando, FL, Sept. 1988.
 J. M. McCarthy and J. E. Bobrow, "TimeOptimal Movement of Cooperating Robots," Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, Jan. 31Feb. 2, 1989, pp. 371379.
 R. M. C. Bodduluri, J. M. McCarthy, and J. E. Bobrow, "Planning Movement for Two PUMA Manipulators Holding the Same Object," Experimental Robotics 1, First Int. Symp. on Experimental Robotics, Montreal Canada, June 1921, 1989, Lecture notes in Control and Information Sciences, V. 139, pp. 579593, SpringerVerlag, Heidelberg, 1990.
 Q.J. Ge and J. M. McCarthy, "Equations for the Boundaries of Joint Obstacles for Planar Robots," Proceedings of the IEEE Robotics and Automation Conference, Vol. 1, pp. 164169, Scottsdale, AZ, May 1419, 1989.
 Q.J. Ge and J. M. McCarthy, " The Constraint Manifold of the Coupler of an SSSS Spatial Four Bar Linkage," Proceedings of the Applied Mechanisms and Robotics Conference, Cincinniti, OH, November 58, 1989.
 R.M. C. Bodduluri and J. M. McCarthy, "Planning Movement of Two Seven Degree of Freedom Robot Arms Holding One Object," Proceedings of the Applied Mechanisms and Robotics Conference, Cincinnati, OH, November 58, 1989.
 Dooley, J. R., and McCarthy, J. M., "Parameterized Descriptions of the Joint Space Obstacles for a 5R Closed Chain Robot," Proceedings of the 1990 IEEE Robotics and Automation Conference, Vol. 3, pp. 15361541, Cincinnatti, OH, May 1318, 1990.
 Ge, Q. J., and McCarthy, J. M., "An Algebraic Formulation of Configuration Space Obstacles for Spatial Robots," Proceedings of the 1990 IEEE Robotics and Automation Conference, Vol. 3, pp. 15421547, Cincinnatti, OH, May 1318, 1990.
 J. M. McCarthy, "A Parameterization of the Central Axis Congruence Associated with Four Positions of a Rigid Body in Space," Proceedings of the ASME Mechanisms Conference, September 1719, 1990, Chicago, IL.
 J. M. McCarthy, "The Opposite Pole Quadrilateral as a Compatibility Linkage for the Parameterization of the Center Point Curve," Proceedings of ASME Mechanisms Conference, September 1719, 1990, Chicago, IL.
 J. M. McCarthy, J. E. Bobrow, and V. K. Chu, "Using Minimum Time Point to Point Movement to Size Actuators in a Multidegree of Freedom Closed Chain," Proceedings of ASME Mechanisms Conference, September 1719, 1990, Chicago, IL.
 J. E. Bobrow, J. M. McCarthy, and V. K. Chu, "TimeOptimal Control of Two Robots Holding the Same Workpiece," Proceedings of the IEEE Conference on Decision and Control, December, 1990, Hawaii.
 P. Larochelle, and J. M. McCarthy, "Performance Evaluation of Cooperating Robot Movements using Maximum Load under TimeOptimal Control," Proceedings of the IEEE Conference on Robotics and Automation, April, 1991, Sacramento, CA, pp:26122617.
 J. R. Dooley, and J. M. McCarthy, "Spatial Rigid Body Dynamics using Dual Quaternion Components," Proceedings of the IEEE Conference on Robotics and Automation, April, 1991, Sacramento, CA, pp:9095.
 J. M. McCarthy, "Dual Quaternions and the Pole Triangle," Proceedings of the Conference on Forty Years of Modern Kinematic: A Tribute to Ferdinand Freudenstein, July 21, 1991, Minneapolis, MN.
 J. M. McCarthy, R. M. C. Bodduluri, and Q. J. Ge, "The Synthesis of Spatial Linkages," Proceedings of the Conference on Forty Years of Modern Kinematic: A Tribute to Ferdinand Freudenstein, July 21, 1991, Minneapolis, MN.
 J. M. McCarthy, "Finite Position Synthesis of a 4S Spatial Mechanism using Kinematic Mapping," Proceedings of the Eighth World Congress on the Theory of Machines and Mechanisms (IFToMM), Prague, Czechoslovakia, Aug. 1991.
 R. M. C. Bodduluri, A. P. Murray, and J. M. McCarthy, "The Circlepoint and Centerpoint Curves as Projections of the Image Curve of the Opposite Pole Quadrilateral," Proceedings of the Applied Mechanisms and Robotics Conference, November 1991, Cincinnati, OH.
 J. M. McCarthy and J. E. Bobrow, "The Number of Saturated Actuators and Constraint Forces during TimeOptimal Movement of a General Robotic System," Proc. IEEE Robotics and Automation Conf. , Nice, France, May 1992, Vol. 1, pp. 542546.
 P. Larochelle and J. M. McCarthy, "Static Analysis of Spherical nR Chains with Joint Friction," Flexible Mechanisms, Dynamics and Analysis DEVol 47, (Proc. ASME Mechanisms Conf.), pg. 173177, September 1992.
 J. Dooley and J. M. McCarthy, "Dynamic Analysis of a Spherical Four Bar Mechanism," Flexible Mechanisms, Dynamics and Analysis DEVol 47, (Proc. ASME Mechanisms Conf.), pg. 161165, September 1992.
 J. Dooley and J. M. McCarthy, "Dynamics of Open and Closed Chain Spherical Mechanisms using Quaternion Coordinates," Flexible Mechanisms, Dynamics and Analysis DEVol 47, (Proc. ASME Mechanisms Conf.), pg. 166171, September 1992.
 P. Larochelle and J. M. McCarthy, "Trajectory Planning fo Cooperating Robot Using Maximum Payload Under Time Optimal Control," Robotics and ManufacturingRecent Trends in Research, Education, and Applications, ASME Press Series, pg. Vol. 4 (M. Jamshidi, R. Lumia, J. Mullins, M. Shahinpoor, eds.), 1992
 J. M. McCarthy and R. M. C. Bodduluri, "Planning Workpiece Grasp Points for Cooperating Robot Movement," Proc. Ninth CISMIFToMM Symposium on Theory and Practice of Robots and Manipulators, Udine, Italy, Sept. 1992.
 P. Larochelle, J. Dooley, A. Murray, J. M. McCarthy, "SPHINXSoftware for Synthesizing Spherical 4R Mechanisms," Vol 1, pg. 607611, Proc. of the 1993 NSF Design and Manufacturing Systems Conference, Univ. of North Carolina at Charlotte, Jan. 1993.
 J. R. Dooley and J. M. McCarthy, "On the Geometric Analysis of Optimum Trajectories for Cooperating Robots using Dual Quaternion Coordinates," Proceedings of the IEEE Robotics and Automation Conference, Atlanta, GA.
 P. Larochelle, and J. M. McCarthy, "Teaching spatial visualization via spherical mechanism design," Proceedings of the 1993 ASEE Engineering Design Graphics Division Conf., Akron, Oh. Oct. 1993.
 F. C. Park, A. P. Murray, and J. M. McCarthy, "Designing Mechanisms for Workspace Fit," Computational Kinematics. Proceedings of the Computational Kinematics Workshop, Dahgstuhl, Germany, Kluwer Academic Publishers, Boston 1993.
 P. Dietmaier and J. M. McCarthy, "Planning Grasp Points and Base Locations of Single Robots and Cooperating Robot Systems," Advances in Robot Kinematics, Slovenia, July, 1994, Kluwer Academic Publishers, Boston 1994.
 A.P. Murray and J. M. McCarthy, "Characterizing the Workspace of the Spherical Image of Cooperating Robots," Advances in Robot Kinematics, Slovenia, July, 1994, Kluwer Academic Publishers, Boston 1994.
 P. Larochelle and J. M. McCarthy, "Payload study of wheelchair mounted cooperating robots," Fifth Int. Symp. on Robotics and Manufacturing, Maui, Hawaii, Aug. 1994.
 P. Larochelle and J. M. McCarthy, "Design of the spatial 4C mechanism for rigid body guidance," ASME Mechanisms Conf., Minneapolis, MN, Sept. 1994.
 P. Larochelle and J. M. McCarthy, "Designing planar mechanisms using a biinvariant metric in the image space of SO(3)," ASME Mechanisms Conf., Minneapolis, MN, Sept. 1994.
 A.P. Murray and J. M. McCarthy, "Five Position Synthesis of Spatial CC Dyads," ASME Mechanisms Conf. Minneapolis, MN, Sept. 1994.
 A.P. Murray and J. M. McCarthy, "A Linkage Type Map for Spherical Four Position Synthesis," Proceedings of 1995 ASME Design Engineering Technical Conferences, Boston, MA, Sept. 1995.
 K. Etzel and J. M. McCarthy, "A Metric for Spatial Displacements using Biquaternions on SO(4)," Proceedings of the 1996 Robotics and Automation Conference, Minneapolis, MN, April 1996.
 A.P. Murray, F. Pierrot, P. Dauchez, and J. M. McCarthy, "On the Design of Parallel Manipulators for a Prescribed Workspace: a Planar Quaternion Approach," 5th International Symp. on Advances in Robot Kinematics, PortorozBernardin, Slovenia, June 2226, 1996.
 K. R. Etzel and J. M. McCarthy, "Spatial Motion Interpolation in an Image Space of SO(4)," Proceedings ASME Design Engineering Technical Conferences, Irvine, CA, August 1921, 1996.
 A.P. Murray and J. M. McCarthy, "Constraint Manifold Synthesis of Planar Linkages," Proceedings ASME Design Engineering Technical Conferences, Irvine, CA, August 1921, 1996.
 C.L. Collins and J. M. McCarthy, "A Generalized Grashof Condition for Planar Platform Manipulator Design," Proceedings of the Fourth Int. Assoc. of Science and Technology for Developent (IASTED) International Conference, Maui, HA, Aug. 1922. 1996.
 P.M. Larocelle, J. Vance, and J.M. McCarthy, “A Virtual Reality Environment for Spherical Mechanism Design,” 1997 NSF Grantees Conference, Seattle, WA, pp8586, Jan 1997.
 C. L. Collins and J. M. McCarthy, "The Quartic Singularity Surfaces of Planar Parallel Manipulators," Proceedings of the Fifth Int. Assoc. of Science and Technology for Development (IASTED) International Conference, Cancun, Mexico, Aug. 1997.
 D.A. Ruth and J. M. McCarthy, “Efficient Computation of Spherical 4R Linkages Compatible with Four Specified Orientations,” NATO Advanced Study Institute on Computational Methods in Mechanisms, Varna, Bulgaria, June 1997.
 C.L. Collins and J. M. McCarthy, “The Singularity Loci of Two Triangular Parallel Manipulators," Proceedings of the 8th International Conference on Advanced Robotics, Monterey, CA, July 68, 1997.
 D.A. Ruth and J. M. McCarthy, “SphinxPC: An Implementation of Four Position Synthesis for Planar and Spherical Linkages," Proceedings of the ASME Design Engineering Technical Conferences, Sacramento, CA, Sept. 1417, 1997.
 P. M. Larochelle, J. M. Vance, and J. M. McCarthy, “Creating a Virtual Reality Environment for Spherical Mechanism Design,” 1998 NSF Grantees Conference, Monterrey, Mexico, pp. 8384, Jan. 1998
 D.A. Ruth and J. M. McCarthy, "A Wheelchairbased Mounting System for Automated Positioning of an Electronic Augmentative Communications Device," Proceedings of RESNA '99, Long Beach, CA. June 2529, 1999.
 J. M. McCarthy and S. Ahlers, “Dimensional Synthesis of Robots using a Double Quaternion Formulation of the Workspace,” Robotics Research: The Ninth International Symposium, (J. M. Hollerbach and D. E. Koditschek, editors), pp. 38, SpringerVerlag, 2000.
 J. M. McCarthy, “Mechanisms Synthesis Theory and the Design of Robots,” Proc. Int. Conf. Robotics and Automation, San Francisco, CA, April 2428, 2000.
 A. Perez and J. M. McCarthy, “Dimensional Synthesis of Spatial RR Robots,” Advances in Robot Kinematics, (J. Lenarcic and M.M. Stanisic, eds.), pp. 93102, Kluwer Academic Publ., Netherlands, 2000.
 A. Perez and J. M. McCarthy, “Dimensional Synthesis of Bennett Linkages,” Proceedings of the ASME Design Engineering Technical Conferences, Baltimore, MD, Sept. 1013, 2000.
 M. Bodduluri and J. M. McCarthy, “Xray Guided Robotic Radiosurgery for Solid Tumors,” Proceedings of ASME/IEEE Conference on Advanced Intelligent Mechatronics, Como, Italy, July 811, 2001.
 H. Su and J. M. McCarthy, “Classification of Designs for RRSS Linkages,” Proceedings of 2001 ASME Design Engineering Technical Conferences, Pittsburgh, PA, Paper No. DETC2001/DAC21104, Sept. 912, 2001.
 A. Perez and J. M. McCarthy, “Dual Quaternion Synthesis of Constrained Robots,” Advances in Robot Kinematics, Barcelona, Spain, June 2426, 2002.
 N. Gascons, H. Su, and J. M. McCarthy, “Performance Evaluation of the Grasp of Two Cooperating Robots Using a Type Map,” Advances in Robot Kinematics, Barcelona, Spain, June 2426, 2002.
 H. Su, C. Collins, and J. M. McCarthy, "An Extensible Java Applet for Spatial Linkage Synthesis," submitted to the ASME DETC, Montreal, Canada, 2002.
 A. Perez and J. M. McCarthy, "Dual Quaternion Synthesis of a Parallel 2TPR Robot," Proc of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, October 34, 2002, Quebec City, Quebec, CA.
 A. Perez and J. M. McCarthy, “Dimensional Synthesis of RPC Serial Robots,” Proceedings of the Internatioanl Conference on Advanced Robotics, June 30July 3, 2003, Univ. of Coimbra, Portugal.
 A. Perez and J. M. McCarthy, “Dual Quaternion Synthesis of a CRR Robot,” Proceedings of the ASME Design Engineering Technical Conferences, September 26, 2003, Chicago, Il.
 H. Su, C. W. Wampler, and J. M. McCarthy, “Geometric Design of Cylindric PRS Serial Chains,” Proceedings of the ASME Design Engineering Technical Conferences, September 26, 2003, Chicago, Il.
 H. Su and J. M. McCarthy, “Kinematic Synthesis of a RPS Serial Chains,” Proceedings of the ASME Design Engineering Technical Conferences, September 26, 2003, Chicago, Il.

