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Journal Articles

The Optimum Quality Index for the Stability of In-Parallel Planar Platform Devices

J. Lee, J. Duffy, M. Keler
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1999, 121(1): 15–20.
https://doi.org/10.1115/1.2829417
Published Online: March 1, 1999
View Articletitled, The Optimum Quality Index for the Stability of In-Parallel Planar Platform Devices
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Topics: Design, Jacobian matrices, Shapes, Stability
Journal Articles

An Inverse Force Analysis of a Planar Two-Spring System

T. M. Pigoski, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1995, 117(4): 548–553.
https://doi.org/10.1115/1.2826717
Published Online: December 1, 1995
View Articletitled, An Inverse Force Analysis of a Planar Two-Spring System
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Topics: Springs, Manufacturing, Polynomials, Stability, Stiffness, Stress
Journal Articles

On the Metrics of Rigid Body Displacements for Infinite and Finite Bodies

J. M. R. Martinez, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1995, 117(1): 41–47.
https://doi.org/10.1115/1.2826115
Published Online: March 1, 1995
View Articletitled, On the Metrics of Rigid Body Displacements for Infinite and Finite Bodies
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Topics: Displacement, Kinematics
Journal Articles

Repeatable Joint Displacement Generation for Redundant Robotic Systems

Y. S. Chung, M. Griffis, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1994, 116(1): 11–16.
https://doi.org/10.1115/1.2919335
Published Online: March 1, 1994
View Articletitled, Repeatable Joint Displacement Generation for Redundant Robotic Systems
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Topics: Displacement, End effectors, Kinematics, Manipulators, Redundant manipulators, Robotics, Springs, Stiffness
Journal Articles

Closed-Form Forward Displacement Analysis of the 4–5 In-Parallel Platforms

Wei Lin, C. D. Crane, III, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1994, 116(1): 47–53.
https://doi.org/10.1115/1.2919375
Published Online: March 1, 1994
View Articletitled, Closed-Form Forward Displacement Analysis of the 4–5 In-Parallel Platforms
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Topics: Displacement, Polynomials
Journal Articles

The Geometry of Interference With Application to Obstacle Avoidance

Y. J. Choi, C. D. Crane, III, G. K. Matthew, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1993, 115(2): 300–305.
https://doi.org/10.1115/1.2919192
Published Online: June 1, 1993
View Articletitled, The Geometry of Interference With Application to Obstacle Avoidance
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Topics: Collisions (Physics), Displacement, Geometry, Robots
Journal Articles

Autonomous Rectilinear Motion Planning for a Spatial Robot: Path Planning for a Spatial 4R Manipulator With a Single Spherical Obstacle Inside the Workspace

Menq-Dar Shieh, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1992, 114(4): 559–563.
https://doi.org/10.1115/1.2917043
Published Online: December 1, 1992
View Articletitled, Autonomous Rectilinear Motion Planning for a Spatial Robot: Path Planning for a Spatial 4R Manipulator With a Single Spherical Obstacle Inside the Workspace
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Topics: Manipulators, Path planning, Robots, Algorithms, End effectors, Collisions (Physics), Silicon
Journal Articles

Forward Displacement Analyses of the 4-4 Stewart Platforms

W. Lin, M. Griffis, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1992, 114(3): 444–450.
https://doi.org/10.1115/1.2926572
Published Online: September 1, 1992
View Articletitled, Forward Displacement Analyses of the 4-4 Stewart Platforms
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Topics: Displacement, Polynomials
Journal Articles

Kinestatic Control: A Novel Theory for Simultaneously Regulating Force and Displacement

M. Griffis, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1991, 113(4): 508–515.
https://doi.org/10.1115/1.2912812
Published Online: December 1, 1991
View Articletitled, Kinestatic Control: A Novel Theory for Simultaneously Regulating Force and Displacement
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Topics: Displacement, Stiffness, End effectors, Manipulators, Parallel mechanisms, Screws
Journal Articles

A Representation of the Euclidean Group by Spin Groups, and Spatial Kinematics Mappings

J. M. Rico, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1990, 112(1): 42–49.
https://doi.org/10.1115/1.2912577
Published Online: March 1, 1990
View Articletitled, A Representation of the Euclidean Group by Spin Groups, and Spatial Kinematics Mappings
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Topics: Kinematics, Particle spin, Rotation, Spin (Aerodynamics), Algebra, Space
Journal Articles

An Analysis for Rectilinear Parallel Operation of a Pair of Spatial Manipulators

Jau-Liang Chen, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1990, 112(1): 23–29.
https://doi.org/10.1115/1.2912574
Published Online: March 1, 1990
View Articletitled, An Analysis for Rectilinear Parallel Operation of a Pair of Spatial Manipulators
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Topics: Manipulators, Robots, Kinematics, Manufacturing
Journal Articles

Hybrid Twist and Wrench Control for a Robotic Manipulator

H. Lipkin, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1988, 110(2): 138–144.
https://doi.org/10.1115/1.3258918
Published Online: June 1, 1988
View Articletitled, Hybrid Twist and Wrench Control for a Robotic Manipulator
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Topics: Manipulators, Geometry, Hybrid control, Screws
Journal Articles

A Theory for the Articulation of Planar Robots: Part II—Motion Planning Procedure for Interference Avoidance

L. Young, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1987, 109(1): 37–41.
https://doi.org/10.1115/1.3258782
Published Online: March 1, 1987
View Articletitled, A Theory for the Articulation of Planar Robots: Part II—Motion Planning Procedure for Interference Avoidance
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Topics: Path planning, Robots, Bending (Stress), Displacement
Journal Articles

A Theory for the Articulation of Planar Robots: Part I—Kinematic Analysis for the Flexure and the Parallel Operation of Robots

L. Young, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1987, 109(1): 29–36.
https://doi.org/10.1115/1.3258781
Published Online: March 1, 1987
View Articletitled, A Theory for the Articulation of Planar Robots: Part I—Kinematic Analysis for the Flexure and the Parallel Operation of Robots
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Topics: Bending (Stress), Kinematic analysis, Robots, End effectors, Geometry
Journal Articles

Closure to “Discussion of ‘The Elliptic Polarity of Screws’” (1985, ASME J. Mech. Transm. Autom. Des., 107, pp. 386–387)

H. Lipkin, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Discussions
J. Mech. Des. September 1985, 107(3): 387.
https://doi.org/10.1115/1.3260727
Published Online: September 1, 1985
View Articletitled, Closure to “Discussion of ‘The Elliptic Polarity of Screws’” (1985, ASME J. Mech. Transm. Autom. Des., 107, pp. 386–387)
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Journal Articles

Displacement Analysis of Spatial Six-Link, 5 R-C Mechanisms: A General Solution

Xu Li Ju, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1985, 107(3): 353–357.
https://doi.org/10.1115/1.3260721
Published Online: September 1, 1985
View Articletitled, Displacement Analysis of Spatial Six-Link, 5 R-C Mechanisms: A General Solution
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Topics: Displacement
Journal Articles

The Elliptic Polarity of Screws

H. Lipkin, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1985, 107(3): 377–386.
https://doi.org/10.1115/1.3260725
Published Online: September 1, 1985
View Articletitled, The Elliptic Polarity of Screws
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Topics: Screws, Manipulators, Modeling
Journal Articles

A Direct Determination of the Instantaneous Kinematics of Fully Parallel Robot Manipulators

M. G. Mohamed, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1985, 107(2): 226–229.
https://doi.org/10.1115/1.3258713
Published Online: June 1, 1985
View Articletitled, A Direct Determination of the Instantaneous Kinematics of Fully Parallel Robot Manipulators
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Topics: Kinematics, Manipulators, End effectors, Actuators, Robots, Screws
Journal Articles

Analysis of Five-Degree-of-Freedom Robot Arms

K. Sugimoto, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1983, 105(1): 23–27.
https://doi.org/10.1115/1.3267339
Published Online: March 1, 1983
View Articletitled, Analysis of Five-Degree-of-Freedom Robot Arms
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Topics: Robots, Arc welding, Computers, Degrees of freedom, Painting, Screws, Sprays
Journal Articles

Determination of Extreme Distances of a Robot Hand. Part 2: Robot Arms With Special Geometry

K. Sugimoto, J. Duffy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 1981, 103(4): 776–783.
https://doi.org/10.1115/1.3254987
Published Online: October 1, 1981
View Articletitled, Determination of Extreme Distances of a Robot Hand. Part 2: Robot Arms With Special Geometry
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Topics: End effectors, Geometry, Robots, Algorithms