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Journal Articles

Advances in the Theory of Planar Curve Cognates

Samantha N. Sherman, Jonathan D. Hauenstein, Charles W. Wampler

J. Mechanisms Robotics. June 2022, 14(3): 031005.

Paper No: JMR-21-1310

DOI: https://doi.org/10.1115/1.4052806

Published Online: November 16, 2021

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Topics: Linkages

Journal Articles

A General Method for Constructing Planar Cognate Mechanisms

Samantha N. Sherman, Jonathan D. Hauenstein, Charles W. Wampler

J. Mechanisms Robotics. June 2021, 13(3): 031009.

Paper No: JMR-20-1433

DOI: https://doi.org/10.1115/1.4050293

Published Online: March 12, 2021

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Topics: Linkages, Rotation

Proceedings Papers

Isotropic Coordinates, Circularity, and Bezout Numbers: Planar Kinematics From a New Perspective

Charles W. Wampler

Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A073, August 18–22, 1996

Paper No: 96-DETC/MECH-1210

DOI: https://doi.org/10.1115/96-DETC/MECH-1210

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Topics: Kinematics, Linkages, Polynomials

Proceedings Papers

Solving the Kinematics of Planar Mechanisms

Charles W. Wampler

Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A060, September 13–16, 1998

Paper No: DETC98/MECH-5935

DOI: https://doi.org/10.1115/DETC98/MECH-5935

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Topics: Eigenvalues, Kinematics, Polynomials

Proceedings Papers

Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation

Charles W. Wampler

Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 109-117, September 10–13, 2000

Paper No: DETC2000/MECH-14060

DOI: https://doi.org/10.1115/DETC2000/MECH-14060

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Topics: Eigenvalues, Kinematics

Proceedings Papers

Curve Cognate Constructions Made Easy

Samantha N. Sherman, Jonathan D. Hauenstein, Charles W. Wampler

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A024, August 17–19, 2020

Paper No: DETC2020-22409

DOI: https://doi.org/10.1115/DETC2020-22409

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Topics: Design engineering, Equations of motion, Linkages

Journal Articles

Singularity Traces of Single Degree-of-Freedom Planar Linkages That Include Prismatic and Revolute Joints

Saleh M. Almestiri, Andrew P. Murray, David H. Myszka, Charles W. Wampler

J. Mechanisms Robotics. October 2016, 8(5): 051003.

Paper No: JMR-15-1255

DOI: https://doi.org/10.1115/1.4032410

Published Online: May 4, 2016

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Topics: Degrees of freedom, Design, Linkages, Circuits, Kinematics

Journal Articles

The Complete Solution of Alt–Burmester Synthesis Problems for Four-Bar Linkages

Daniel A. Brake, Jonathan D. Hauenstein, Andrew P. Murray, David H. Myszka, Charles W. Wampler

J. Mechanisms Robotics. August 2016, 8(4): 041018.

Paper No: JMR-15-1207

DOI: https://doi.org/10.1115/1.4033251

Published Online: April 19, 2016

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Topics: Dimensions, Linkages, Algebra, Geometry, Design

Proceedings Papers

Singularity Traces of Planar Linkages That Include Prismatic and Revolute Joints

Saleh M. Almestiri, David H. Myszka, Andrew P. Murray, Charles W. Wampler

Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A080, August 2–5, 2015

Paper No: DETC2015-47390

DOI: https://doi.org/10.1115/DETC2015-47390

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Topics: Linkages, Degrees of freedom, Design, Kinematics, Shapes

Proceedings Papers

Using the Singularity Trace to Understand Linkage Motion Characteristics

Lin Li, David H. Myszka, Andrew P. Murray, Charles W. Wampler

Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A063, August 4–7, 2013

Paper No: DETC2013-13244

DOI: https://doi.org/10.1115/DETC2013-13244

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Topics: Linkages, Design, Construction

Journal Articles

Computing the Branches, Singularity Trace, and Critical Points of Single Degree-of-Freedom, Closed-Loop Linkages

David H. Myszka, Andrew P. Murray, Charles W. Wampler

J. Mechanisms Robotics. February 2014, 6(1): 011006.

Paper No: JMR-13-1036

DOI: https://doi.org/10.1115/1.4025752

Published Online: December 27, 2013

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Topics: Design, Linkages, Kinematics, Degrees of freedom

Proceedings Papers

Mechanism Branches, Turning Curves, and Critical Points

David H. Myszka, Andrew P. Murray, Charles W. Wampler

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1513-1525, August 12–15, 2012

Paper No: DETC2012-70277

DOI: https://doi.org/10.1115/DETC2012-70277

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Topics: Design, Linkages, Topology, Turning

Proceedings Papers

Locating N Points of a Rigid Body on N Given Planes

Charles W. Wampler

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 513-521, September 28–October 2, 2004

Paper No: DETC2004-57182

DOI: https://doi.org/10.1115/DETC2004-57182

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Topics: Eigenvalues, Kinematics, Metrology, Robotics, Robots

Proceedings Papers

Geometric Design of Cylindric PRS Serial Chains

Hai-Jun Su, Charles W. Wampler, J. Michael McCarthy

Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1069-1077, September 2–6, 2003

Paper No: DETC2003/DAC-48816

DOI: https://doi.org/10.1115/DETC2003/DAC-48816

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Topics: Chain, Design, Degrees of freedom, Eigenvalues, Robots

Proceedings Papers

Advances in Polynomial Continuation for Solving Problems in Kinematics

Andrew J. Sommese, Jan Verschelde, Charles W. Wampler

Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 481-488, September 29–October 2, 2002

Paper No: DETC2002/MECH-34254

DOI: https://doi.org/10.1115/DETC2002/MECH-34254

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Topics: Kinematics, Polynomials, Degrees of freedom, Manufacturing, Algorithms, Design, Dimensions, Manipulators, Mechanical admittance

Proceedings Papers

Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops

Charles W. Wampler

Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 1075-1085, September 29–October 2, 2002

Paper No: DETC2002/MECH-34326

DOI: https://doi.org/10.1115/DETC2002/MECH-34326

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Topics: Displacement, Kinematics, Robots, Eigenvalues, Linkages, Manipulators, Rotation

Journal Articles

On a Rigid Body Subject to Point-Plane Constraints

Charles W. Wampler

J. Mech. Des. January 2006, 128(1): 151–158.

DOI: https://doi.org/10.1115/1.2120787

Published Online: July 19, 2005

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Topics: Algebra, Algorithms, Degrees of freedom, Eigenvalues, Kinematics, Metrology, Robots, Rotation, Computers, Polynomials

Journal Articles

Geometric Design of Cylindric PRS Serial Chains

Hai-Jun Su, Charles W. Wampler, J. Michael McCarthy

J. Mech. Des. March 2004, 126(2): 269–277.

DOI: https://doi.org/10.1115/1.1667965

Published Online: May 5, 2004

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Topics: Chain, Design, Eigenvalues, Polynomials

Journal Articles

Advances in Polynomial Continuation for Solving Problems in Kinematics

Andrew J. Sommese, Jan Verschelde, Charles W. Wampler

J. Mech. Des. March 2004, 126(2): 262–268.

DOI: https://doi.org/10.1115/1.1649965

Published Online: May 5, 2004

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Topics: Algorithms, Dimensions, Polynomials, Kinematics, Linkages

Journal Articles

Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops

Charles W. Wampler

J. Mech. Des. January 2004, 126(1): 93–100.

DOI: https://doi.org/10.1115/1.1637653

Published Online: March 11, 2004

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Topics: Displacement, Eigenvalues, Rotation, Kinematics, Polynomials

Journal citation

NARROW

Advances in the Theory of Planar Curve Cognates

A General Method for Constructing Planar Cognate Mechanisms

Isotropic Coordinates, Circularity, and Bezout Numbers: Planar Kinematics From a New Perspective

Solving the Kinematics of Planar Mechanisms

Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation

Curve Cognate Constructions Made Easy

Singularity Traces of Single Degree-of-Freedom Planar Linkages That Include Prismatic and Revolute Joints

The Complete Solution of Alt–Burmester Synthesis Problems for Four-Bar Linkages

Singularity Traces of Planar Linkages That Include Prismatic and Revolute Joints

Using the Singularity Trace to Understand Linkage Motion Characteristics

Computing the Branches, Singularity Trace, and Critical Points of Single Degree-of-Freedom, Closed-Loop Linkages

Mechanism Branches, Turning Curves, and Critical Points

Locating N Points of a Rigid Body on N Given Planes

Geometric Design of Cylindric PRS Serial Chains

Advances in Polynomial Continuation for Solving Problems in Kinematics

Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops

On a Rigid Body Subject to Point-Plane Constraints

Geometric Design of Cylindric PRS Serial Chains

Advances in Polynomial Continuation for Solving Problems in Kinematics

Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops

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