Recent Research Papers


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Constrained Serial Chains

Synthesis Software

Spatial Linkage Analysis and Synthesis

Robotics

Synthesis of Constrained Serial Chains

A. Perez and J. M. McCarthy, “Geometric Design of RRP, RPR and PRR Serial Chains,” submitted December 2003 to Mechanism and Machine Theory. (under review)

H. Su and J. M. McCarthy, “The Synthesis of an RPS Serial Chain to Reach a Given Set of Task Positions,” submitted July 2003 to Mechanism and Machine Theory. (under review)

A. Perez and J. M. McCarthy,  “Dual Quaternion Synthesis of Constrained Robotic Systems,” ASME Journal of Mechanical Design September 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).

J. M. McCarthy, "Mechanisms Synthesis Theory and the Design of Robots," Proc. Int. Conf. Robotics and Automation, San Francisco, CA, April 24-28, 2000.

Synthesis Software

H. Su, J. M. McCarthy, and L. Watson, “Generalized Linear Product Homotopy Algorithms and the Computation of Reachable Surfaces,” submitted November 2003 to ASME Journal of Computers and Information Science and Engineering. (under review)

H. Su, P. Dietmaier, J. M. McCarthy, “Trajectory Planning for Constrained Parallel Manipulators,” ASME Journal of Mechanical Design, March 2003 (in press).

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):45-49, March 2002.

Spatial Linkage Analysis and Synthesis

A. Perez and J. M. McCarthy, "Bennett’s Linkage and the Cylindroid," Mechanism and Machine Theory, 125(1):98-104, March 2003.

A. Perez and J. M. McCarthy, "Dimensional Synthesis of Bennett Linkages," ASME Journal of Mechanical Design, 37(11):1245-1260, November 2002.

H. Su, C. Collins, J. M. McCarthy, "Classification of RRSS Linkages," Mechanism and Machine Theory, 37(11):1413-1433, November 2002.

Robotics

M. Bodduluri and J. M. McCarthy, "X-ray Guided Robotic Radiosurgery for Solid Tumors," Industrial Robot Journal, 29:3, March 2002.