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Journal Articles

Elastostatic Performance Evaluation of a Full-Mobility Parallel-Kinematics Machine With Flexible Links

Qi Sun, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051014.
Paper No: JMR-23-1529
https://doi.org/10.1115/1.4067621
Published Online: February 10, 2025
View Articletitled, Elastostatic Performance Evaluation of a Full-Mobility Parallel-Kinematics Machine With Flexible Links
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Topics: Stiffness, Kinematics, Motors, Machinery
Proceedings Papers

Curvature Analysis of Linear and Circular Tractrices for the Planar Motion of Vehicles

Chiara Lanni, Giorgio Figliolini, Jorge Angeles
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A014, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116658
https://doi.org/10.1115/DETC2023-116658
View Paper titled, Curvature Analysis of Linear and Circular Tractrices for the Planar Motion of Vehicles
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Topics: Bicycles, Vehicles
Journal Articles

Workspace, Singularity, and Dexterity Analyses of a Six-Degrees-of-Freedom SDelta Robot With an Orthogonal Base Platform

Metin Toz, Hasiaoqier Han, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071010.
Paper No: JMR-23-1306
https://doi.org/10.1115/1.4063574
Published Online: October 20, 2023
View Articletitled, Workspace, Singularity, and Dexterity Analyses of a Six-Degrees-of-Freedom SDelta Robot With an Orthogonal Base Platform
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Topics: Design, Kinematics, Robots, Jacobian matrices, Degrees of freedom, Machinery
Journal Articles

Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints

Hasiaoqier Han, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031015.
Paper No: JMR-23-1118
https://doi.org/10.1115/1.4062984
Published Online: August 8, 2023
View Articletitled, Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints
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Topics: Dynamics (Mechanics), Kinematics, Machinery, Chain, Simulation
Journal Articles

Erratum: “Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions” [ASME J. Mech. Rob., 14(2), p. 021011; DOI: 10.1115/1.4052336 ]

Shaoping Bai, Zhongyi Li, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Errata
J. Mechanisms Robotics. April 2023, 15(2): 027001.
Paper No: JMR-22-1167
https://doi.org/10.1115/1.4054617
Published Online: June 21, 2022
View Articletitled, Erratum: “Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions” [ASME J. Mech. Rob., 14(2), p. 021011; DOI: 10.1115/1.4052336 ]
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Topics: Linkages
Journal Articles

Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions

Shaoping Bai, Zhongyi Li, Jorge Angeles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021011.
Paper No: JMR-21-1203
https://doi.org/10.1115/1.4052336
Published Online: October 13, 2021
View Articletitled, Exact Path Synthesis of RCCC Linkages for a Maximum of Nine Prescribed Positions
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Topics: Linkages, Algebra
Proceedings Papers

A Semigraphical Method for the Solution of the Burmester Problem

Ching Yu Chang, Jorge Angeles, Max Antonio González-Palacios
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 321-326, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0134
https://doi.org/10.1115/DETC1991-0134
View Paper titled, A Semigraphical Method for the Solution of the Burmester Problem
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Topics: Inspection, Linkages
Proceedings Papers

SIXPAQ: A Comprehensive Software Package for Analysis and Synthesis of Six-Bar Dwell Linkages

Max Antonio González-Palacios, Jorge Angeles
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 1 — Artificial Intelligence; Expert Systems; CAD/CAM/CAE; Computational Fluid/Thermal Engineering, 309-314, August 18–22, 1991
Publisher: American Society of Mechanical Engineers
Paper No: CIE1991-0039
https://doi.org/10.1115/CIE1991-0039
View Paper titled, SIXPAQ: A Comprehensive Software Package for Analysis and Synthesis of Six-Bar Dwell Linkages
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Topics: Computer software, Linkages, Algorithms, Construction, Geometry, Visualization
Proceedings Papers

SPHERE: A Software Package for the Optimization of Spherical Four-Bar Linkages

Zheng Liu, Jorge Angeles, Murat Tandirci
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 1 — Artificial Intelligence; Expert Systems; CAD/CAM/CAE; Computational Fluid/Thermal Engineering, 301-308, August 18–22, 1991
Publisher: American Society of Mechanical Engineers
Paper No: CIE1991-0038
https://doi.org/10.1115/CIE1991-0038
View Paper titled, SPHERE: A Software Package for the Optimization of Spherical Four-Bar Linkages
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Topics: Computer software, Linkages, Optimization
Proceedings Papers

PLAN: A Software Package for the Optimization of Planar Four-Bar Linkages

Murat Tandirci, Jorge Angeles, Zheng Liu
Proc. ASME. CIE91, ASME 1991 Computers in Engineering Conference: Volume 1 — Artificial Intelligence; Expert Systems; CAD/CAM/CAE; Computational Fluid/Thermal Engineering, 295-300, August 18–22, 1991
Publisher: American Society of Mechanical Engineers
Paper No: CIE1991-0037
https://doi.org/10.1115/CIE1991-0037
View Paper titled, PLAN: A Software Package for the Optimization of Planar Four-Bar Linkages
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Topics: Computer software, Linkages, Optimization, Design, Design methodology, FORTRAN
Proceedings Papers

Synthesis of Contact Surfaces of Spherical Cam-Oscillating Roller-Follower Mechanisms: A General Approach

Max Antonio González-Palacios, Jorge Angeles
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 255-260, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0127
https://doi.org/10.1115/DETC1991-0127
View Paper titled, Synthesis of Contact Surfaces of Spherical Cam-Oscillating Roller-Follower Mechanisms: A General Approach
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Topics: Oscillations, Rollers, Geometry, Indexing (Machining), Pressure
Proceedings Papers

The Formulation of Kinematic Constraints in Design-Oriented Machine Dynamics

Subir Kumar Saha, Jorge Angeles
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 115-122, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0111
https://doi.org/10.1115/DETC1991-0111
View Paper titled, The Formulation of Kinematic Constraints in Design-Oriented Machine Dynamics
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Topics: Design, Kinematics, Machine dynamics, Dynamic analysis, Dynamic modeling, Machinery, Simulation
Proceedings Papers

Optimization of Function-Generating Mechanisms Using Input-Output Curve Planning: Part II — Formulation and Optimization Strategies

Zheng Liu, Jorge Angeles
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Mechanism Design and Synthesis, 557-563, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0341
https://doi.org/10.1115/DETC1992-0341
View Paper titled, Optimization of Function-Generating Mechanisms Using Input-Output Curve Planning: Part II — Formulation and Optimization Strategies
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Topics: Optimization, Design, Mechanical admittance
Proceedings Papers

Optimization of Function-Generating Mechanisms Using Input-Output Curve Planning: Part I — Curve Planning and Data Preparation

Zheng Liu, Jorge Angeles
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Mechanism Design and Synthesis, 545-550, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0339
https://doi.org/10.1115/DETC1992-0339
View Paper titled, Optimization of Function-Generating Mechanisms Using Input-Output Curve Planning: Part I — Curve Planning and Data Preparation
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Topics: Optimization, Design, Errors, Mechanical admittance
Proceedings Papers

The Synthesis of Cam-Oscillating Roller-Follower Mechanisms: A Unified Approach

Max Antonio González-Palacios, Jorge Angeles
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Mechanism Design and Synthesis, 329-335, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0314
https://doi.org/10.1115/DETC1992-0314
View Paper titled, The Synthesis of Cam-Oscillating Roller-Follower Mechanisms: A Unified Approach
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Topics: Oscillations, Rollers, Geometry, Pressure
Proceedings Papers

On the Design of Planar and Spherical Pure-Rolling Indexing Cam Mechanisms

Max Antonio González-Palacios, Jorge Angeles
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Mechanism Design and Synthesis, 323-328, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0313
https://doi.org/10.1115/DETC1992-0313
View Paper titled, On the Design of Planar and Spherical Pure-Rolling Indexing Cam Mechanisms
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Topics: Design, Indexing (Machining), Coulombs, Friction, Pressure
Proceedings Papers

Dynamics of Single-Loop Mechanisms With Flexible Links

John Darcovich, Jorge Angeles, Arun K. Misra
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis, 453-460, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0412
https://doi.org/10.1115/DETC1992-0412
View Paper titled, Dynamics of Single-Loop Mechanisms With Flexible Links
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Topics: Algebra, Degrees of freedom, Differential equations, Dynamics (Mechanics), Engineering simulation, Equations of motion, Kinematics, Simulation
Proceedings Papers

Active Control for the Complete Dynamic Balancing of Linkages

Jorge Angeles, Meyer A. Nahon, Thomas Thümmel
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Flexible Mechanisms, Dynamics, and Analysis, 305-310, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0394
https://doi.org/10.1115/DETC1992-0394
View Paper titled, Active Control for the Complete Dynamic Balancing of Linkages
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Topics: Linkages, Inertia (Mechanics), Motors
Proceedings Papers

The Characteristic Point and the Characteristic Length of Robotic Manipulators

Murat Tandirci, Jorge Angeles, Farzam Ranjbaran
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 203-208, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0216
https://doi.org/10.1115/DETC1992-0216
View Paper titled, The Characteristic Point and the Characteristic Length of Robotic Manipulators
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Topics: Manipulators, Jacobian matrices, End effectors
Proceedings Papers

Data-Conditioning in the Optimization of Function-Generating Linkages

Zheng Liu, Jorge Angeles
Proc. ASME. DETC93, 19th Design Automation Conference: Volume 1 — Mechanical System Dynamics; Concurrent and Robust Design; Design for Assembly and Manufacture; Genetic Algorithms in Design and Structural Optimization, 419-426, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0330
https://doi.org/10.1115/DETC1993-0330
View Paper titled, Data-Conditioning in the Optimization of Function-Generating Linkages
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Topics: Linkages, Optimization