Design of Novel P-drivable 1DOF mechanisms

This research was presented at ASME’s IDETC 2023 Conference where it was awarded the A.T.Yang Memorial Award- given to the best paper on theoretical kinematics out of 200+ papers. The paper has also been invited to be published in a special issue ASME’s Journal of Mechanism & Robotics.


Actuating a single DOF mechanism via a separate P-drivable spherical–prismatic–spherical (SPS) chain that avoids singularities encountered by actuating the mechanism at one of its original joints.

Key Features:

  • Does not alter the path of the mechanism.
  • Process of producing singularity free spatial mechanisms to be broken into two steps:
    (a) Kinematic synthesis- finding circuit-defect-free solutions capable of producing the desired motion
    (b) Synthesizing this additional chain for actuation

Example# 1: Upward Spiraling Motion

Example# 2: A more complex motion

Example# 3: Wheel Rotating Without Slipping [Planar Example]

This was a rather quick overview of the research. I did not put in a lot of equations or anything to not make it look too complex. If you are interested in learning more about this research, drop me an email and I can send you the full research paper.

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