Kinematic Synthesis of Robots

We are developing new theoretical and software methodologies for the design of general spatial mechanisms that perform robotic tasks.

J39 M. Bodduluri and J. M. McCarthy, “X-ray Guided Robotic Radiosurgery for Solid Tumors,” Industrial Robot Journal, 29:3, March 2002.

J40 A. Perez and J. M. McCarthy, “Dimensional Synthesis of Bennett Linkages,” ASME Journal of Mechanical Design, Jan 2002 (in press)

J41 H. Su, C. Collins, J. M. McCarthy, “Classification of RRSS Linkages,” Mechanism and Machine Theory, Jan 2002. (in press)

J42 A. Perez and J. M. McCarthy, “Bennett’s Linkage and the Cylindroid,” Mechanism and Machine Theory, April 2002 (in press)

J43 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, April 2002 (in press).

C62 J. M. McCarthy, “Mechanisms Synthesis Theory and the Design of Robots,” Proc. Int. Conf. Robotics and Automation, San Francisco, CA, April 24-28, 2000.

C63 A. Perez and J. M. McCarthy, “Dimensional Synthesis of Spatial RR Robots,” Advances in Robot Kinematics, (J. Lenarcic and M.M. Stanisic, eds.), pp. 93-102, Kluwer Academic Publ., Netherlands, 2000.

C64 A. Perez and J. M. McCarthy, “Dimensional Synthesis of Bennett Linkages,” Proceedings of the ASME Design Engineering Technical Conferences, Baltimore, MD, Sept. 10-13, 2000.

C65 M. Bodduluri and J. M. McCarthy, “X-ray Guided Robotic Radiosurgery for Solid Tumors,” Proceedings of ASME/IEEE Conference on Advanced Intelligent Mechatronics, Como, Italy, July 8-11, 2001.

C66 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/DAC-21104, Sept. 9-12, 2001.

C67 A. Perez and J. M. McCarthy, “Dual Quaternion Synthesis of Constrained Robots,” Advances in Robot Kinematics, Barcelona, Spain, June 24-26, 2002.

C68 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 24-26, 2002.

C69 H. Su, C. Collins, and J. M. McCarthy, “An Extensible Java Applet for Spatial Linkage Synthesis,” submitted to the ASME DETC, Montreal, Canada, 2002.

C70 A. Perez and J. M. McCarthy, “Dual Quaternion Synthesis of a Parallel 2-TPR Robot,” Proc of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, October 3-4, 2002, Quebec City, Quebec, CA.

      Mathematica Notebooks for Linkage Design

      Spatial RR Synthesis: This notebook develops the design equations for three position synthesis of spatial RR robots. The centerpiece is the symbolic elimination from four non-linear equations in four unknowns to a single cubic equation. Along the way, we develop and use operations for line geometry, including determining the principal axes of a cylindroid. This is described in the paper:

      Select here for an animation (2.1MB) of a Bennett Linkage (Tsai and Roth 1973).
      Select here for a more detailed animation (5.2MB).

      SphinxPC

      Our computer aided linkage design software SphinxPC is in use in many research laboratories exploring the applications of a special class of spatial mechanisms, known as spherical linkages. The goal of a linkage design project in SphinxPC is a 4R linkage that guides a body either through four planar positions or through four spatial orientations.

      The most recent paper describing SphinxPC is:

      D. Alan Ruth, and J. Michael McCarthy: The Design of Spherical 4R Linkages for Four Specified Orientations.

      Novel Assistive Devices for the Severely Disabled

      Advances in the design of spatial linkages is yielding new devices with unique capabilities for deploying and stowing accessories for the wheel-chair bound. The result is the efficient design and construction of devices that provide singly-actuated spatial movement for the disabled, expanding the opportunity for independent activity fundamental to cognitive development.

      Here are photos of a wheelchair with prototype devices installed.

      Visitors since September 21, 2000