Adjustable Gripper

Six-bar gripper with fine adjustment

This is a robotic gripper designed by Andrea Carli and Kaustubh Sonawale. It uses a six-bar linkage for the primary movement and a slider adjustment to provide a gripping fine movement.

Workshop Schedule: 21st Century Kinematics

21st Century Kinematics: Workshop Schedule

Here is the schedule for the IDETC/NSF Workshop on 21st Century Kinematics:

Workshop Schedule: 21st Century Kinematics

Workshop Schedule: 21st Century Kinematics

Cover 21st Century Kinematics

Workshop on 21st Century Kinematics: The Book

Cover 21st Century Kinematics

Cover 21st Century Kinematics

The presenters for the 2012 IDETC/NSF Workshop on 21st Century Kinematics, August 11-12, 2012, Chicago, Il, have gathered background information into this book published by Springer. It is a guided compilation of work by the presenters found in their recent papers and books. We are grateful to ASME, IJRR, Robotica and Springer for the permission to reprint these excerpts.

Grant Poster

MechGen Poster for NSF

Mech Gen Poster for NSF

This is the poster describing MechGen that Kaustubh and Mark prepared for the NSF CMMI Conference in Boston, MA. It was very well received.

Wikipedia Logo

Machines on Wikipedia

I have spent quite a bit of time revising articles on machines in Wikipedia. I hope my contributions are an improvement.

When I started there was a lot of controversy over the definition of Machine, which forced me to introduce Machine (mechanical) and Mechanical system. This has changed and there is movement to move the definitions under a revised version of Machine.

Please take a look:

Anyone may edit Wikipedia, and it is intended to allow user communities to maintain the quality of particular sets articles. It is important that we take this opportunity because Wikipedia is an important resource to our students.

Geometric Design of Linkages book

Geometric Design of Linkages, second edition

Geometric Design of Linkages, second edition

Geometric Design of Linkages, second edition

I am pleased to say that the second edition of my book, Geometric Design of Linkages, is now available, and I have to express my sincere gratitude to my co-author GimSong Soh, who helped make it happen.

You can find more information at the Springer Verlag web-page, GDL on Springer.com.

It is also already on Google Books, you can see it at the link GDL on books.google.com.

21st Century Kinematics

21st Century Kinematics

This is a draft of my editorial on 21st Century Kinematics for the Journal of Mechanisms and Robotics. It is a follow-up to my previous editorial on Kinematics, Polynomials and Computers. I would welcome your feedback.

Kinematics and Computers

Kinematics, Polynomials and Computers–A Brief History

Select this link to the .pdf of Kinematics, Polynomials, and Computers–A Brief History, which is a summary of the history of the kinematics of mechanisms and robotics with a focus on the challenge of solving the polynomial equations that arise in their study.  It is a draft of my February 2011 editorial for the ASME Journal of Mechanisms and Robotics.
***Update*** This version has a correction to references [29] and [30].

Parallel Mechanisms information center

Ilian Bonev maintains bibliography and patent databases on parallel mechanisms and much more at ParallelMIC. Access it at the link http://www.parallemic.org/

Parallel Mechanisms information center

Parallel Mechanisms information center

Elementary Robotics

Elementary Robotics

The basic properties of robots can developed by studying planar serial chains. Select this link for my notes on elementary robotics:
http://synthetica.eng.uci.edu/mechanicaldesign101/McCarthyNotes-5.pdf

Elementary Robotics

Elementary Robotics