All Stories

  1. A Multi-link Hinge for a Refrigerator Door

    Article • July 2026, Springer Science + Business Media

    Prof John M McCarthy

  2. A Spherical Six-Bar Jewelry Box Lid Opening Mechanism

    Article • July 2026, Springer Science + Business Media

    Prof John M McCarthy

  3. Spherical exoskeleton for the measurement of shoulder movement

    Article • Transactions of the Canadian Society for Mechanical Engineering, December 2025, Canadian Science Publishing

    Prof John M McCarthy

  4. Quaternions in Kinematics

    Article • Mechanism and Machine Theory, July 2025, Elsevier

    Prof John M McCarthy

  5. Quaternions in Kinematics

    Article • January 2025, Elsevier

    Prof John M McCarthy

  6. Design of a Robotic Rowboat

    Article • January 2024, Springer Science + Business Media

    Prof John M McCarthy

  7. A Minimally Autonomous Robot Walker

    Article • January 2024, Springer Science + Business Media

    Prof John M McCarthy

  8. A steerable robot walker driven by two actuators

    Article • Robotica, December 2023, Cambridge University Press

    Prof John M McCarthy

  9. The Design of a Multi-legged Modular Walking Robot

    Article • January 2023, Springer Science + Business Media

    Prof John M McCarthy

  10. Design of Continuum Mechanisms with Target Motions

    Article • January 2022, Springer Science + Business Media

    Prof John M McCarthy

  11. Manufacture of a Folding Continuum Mechanism

    Article • January 2022, Springer Science + Business Media

    Prof John M McCarthy

  12. Design and Actuation of a Skeleton for a Robotic Fish

    Article • August 2021, ASME International

    Prof John M McCarthy

  13. The design of coiling and uncoiling trusses using planar linkage modules

    Article • Mechanism and Machine Theory, September 2020, Elsevier

    Prof John M McCarthy

  14. Design Elements Inflatable Origami-Based Forceps

    Article • August 2020, ASME International

    Prof John M McCarthy

  15. Kinematic Synthesis of a Modified Jansen Leg Mechanism

    Article • July 2020, Springer Science + Business Media

    Prof John M McCarthy

  16. Numerical Continuation on a Graphical Processing Unit for Kinematic Synthesis

    Article • Journal of Computing and Information Science in Engineering, June 2020, ASME International

    Prof John M McCarthy

  17. Design of a Continuum Mechanism that Matches the Movement of an Eight-bar Linkage

    Article • Journal of Mechanisms and Robotics, June 2020, ASME International

    Prof John M McCarthy

  18. Kinematic Design and Evaluation of a Six-Bar Knee-Ankle-Foot Orthosis

    Article • Journal of Engineering and Science in Medical Diagnostics and Therapy, March 2020, ASME International

    Prof John M McCarthy

  19. A GPU Homotopy Path Tracker and End Game for Mechanism Synthesis

    Article • January 2020, Springer Science + Business Media

    Prof John M McCarthy

  20. Computation of the Developable Form of a Planar Four-Bar Linkage

    Article • January 2020, Springer Science + Business Media

    Prof John M McCarthy

  21. Design of Four-, Six-, and Eight-Bar Linkages for Rectilinear Movement

    Article • August 2019, ASME International

    Prof John M McCarthy

  22. Kinematic Modeling of Origami-Based Forcep Designs

    Article • August 2019, ASME International

    Prof John M McCarthy

  23. Five Position Synthesis of a Planar Four-Bar Linkage

    Article • January 2019, Springer Science + Business Media

    Prof John M McCarthy

  24. Six-Bar Linkage Design System with a Parallelized Polynomial Homotopy Solver

    Article • June 2018, Springer Science + Business Media

    Prof John M McCarthy

  25. Design of a Spatial RPR-2SS Valve Mechanism

    Article • Journal of Mechanisms and Robotics, May 2018, ASME International

    Prof John M McCarthy

  26. Design of a Flapping Wing Mechanism to Coordinate Both Wing Swing and Wing Pitch

    Article • Journal of Mechanisms and Robotics, January 2018, ASME International

    Prof John M McCarthy

  27. Synthesis of a Flapping Wing Mechanism Using a Constrained Spatial RRR Serial Chain

    Article • Journal of Mechanisms and Robotics, December 2017, ASME International

    Prof John M McCarthy

  28. The Design and Manufacture of a Gear-Coupled Serial Chain to Trace the Butterfly Curve

    Article • August 2017, ASME International

    Prof John M McCarthy

  29. Design of a Spatial Six-Bar Flapping Wing Mechanism for Combined Control of Swing and Pitch

    Article • August 2017, ASME International

    Prof John M McCarthy

  30. Design of Wearable Lower Leg Orthotic Based on Six-Bar Linkage

    Article • August 2017, ASME International

    Prof John M McCarthy

  31. Synthesis of Linkages to Trace Plane Curves

    Article • July 2017, Springer Science + Business Media

    Prof John M McCarthy

  32. Bezier curves can be drawn by coupled serial chains.

    Article • Journal of Computing and Information Science in Engineering, July 2017, ASME International

    Prof John M McCarthy

  33. A design process to match an assistive device to a client mobility needs

    Article • June 2017, Springer Science + Business Media

    Prof John M McCarthy

  34. A simplified approach to the design of mechanisms to draw arbitrary algebraic plane curves

    Article • Mechanism and Machine Theory, May 2017, Elsevier

    Prof John M McCarthy

  35. Spherical parallel manipulators that have an internal constraints equivalent to hinged joints

    Article • Journal of Mechanisms and Robotics, March 2017, ASME International

    Prof John M McCarthy

  36. Methodology to design a one degree of freedom coupled serial chain to draw a periodic plane curve

    Article • Journal of Mechanisms and Robotics, March 2017, ASME International

    Prof John M McCarthy

  37. A simple micro air vehicle flapping mechanism that controls pitch as well as the swing movement

    Article • January 2017, American Institute of Aeronautics and Astronautics (AIAA)

    Mr. Khaled Ahmed, Prof John M McCarthy

  38. Rooted Cycle Bases

    Article • Journal of Graph Algorithms and Applications, January 2017, Journal of Graph Algorithms and Applications

    Prof John M McCarthy

  39. A systematic procedure for eight-bar linkages starting with a user-specified six-bar loop

    Article • Mechanism and Machine Theory, November 2016, Elsevier

    Prof John M McCarthy

  40. Kinematic synthesis via homotopy methods is combined path optimization for a new design capability

    Article • Journal of Mechanisms and Robotics, September 2016, ASME International

    Prof John M McCarthy

  41. Design of Mechanisms to Trace Plane Curves

    Article • August 2016, ASME International

    Prof John M McCarthy

  42. Singularity Variety of a 3SPS-1S Spherical Parallel Manipulator

    Article • August 2016, ASME International

    Prof John M McCarthy

  43. A design methodology for one degree-of-freedom systems that guides natural human leg movement

    Article • Journal of Medical Devices, August 2016, ASME International

    Prof John M McCarthy

  44. How to design six-bar function generators to control a serial chain to drive biomimetic movement

    Article • Journal of Mechanisms and Robotics, May 2016, ASME International

    Prof John M McCarthy

  45. Kinematic synthesis of Stephenson III six-bar function generators

    Article • Mechanism and Machine Theory, March 2016, Elsevier

    Prof John M McCarthy

  46. Design of Stephenson linkages that guide a point along a specified trajectory

    Article • Mechanism and Machine Theory, February 2016, Elsevier

    Prof John M McCarthy

  47. The cross domain desktop compositor

    Article • January 2016, ACM (Association for Computing Machinery)

    Prof John M McCarthy

  48. Mechanism and Actuation

    Article • January 2016, Springer Science + Business Media

    Prof John M McCarthy

  49. A Design System for Eight-Bar Linkages as Constrained 4R Serial Chains

    Article • Journal of Mechanisms and Robotics, August 2015, ASME International

    Prof John M McCarthy

  50. Computational Design of Stephenson II Six-Bar Function Generators for 11 Accuracy Points

    Article • Journal of Mechanisms and Robotics, August 2015, ASME International

    Prof John M McCarthy

  51. A Design System for Six-Bar Linkages Integrated With a Solid Modeler

    Article • Journal of Computing and Information Science in Engineering, August 2015, ASME International

    Prof John M McCarthy

  52. Flexure Design for Eight-Bar Rectilinear Motion Mechanism

    Article • August 2015, ASME International

    Prof John M McCarthy

  53. Controlling the Movement of a TRR Spatial Chain With Coupled Six-Bar Function Generators for Biomimetic Motion

    Article • August 2015, ASME International

    Prof John M McCarthy

  54. Rooted Cycle Bases

    Article • January 2015, Springer Science + Business Media

    Prof John M McCarthy

  55. Automated Generation of Linkage Loop Equations for Planar One Degree-of-Freedom Linkages, Demonstrated up to 8-Bar

    Article • Journal of Mechanisms and Robotics, December 2014, ASME International

    Prof John M McCarthy

  56. Fitting Useful Planar Four-Bar and Six-Bar Linkages to Over-Specified Tasks

    Article • November 2014, Springer Science + Business Media

    Prof John M McCarthy

  57. Automated Generation of Linkage Loop Equations for Planar 1-DoF Linkages, Demonstrated up to 8-Bar

    Article • August 2014, ASME International

    Prof John M McCarthy

  58. Synthesis of an NR Robot With Four-Bar Constraining Modules

    Article • August 2014, ASME International

    Prof John M McCarthy

  59. Synthesis of Useful Eight-Bar Linkages as Constrained 6R Loops

    Article • August 2014, ASME International

    Prof John M McCarthy

  60. Vehicle Suspension Design Based on a Six-Bar Linkage

    Article • August 2014, ASME International

    Prof John M McCarthy

  61. Numerical Synthesis of Six-Bar Linkages for Mechanical Computation

    Article • Journal of Mechanisms and Robotics, June 2014, ASME International

    Prof John M McCarthy

  62. Kinematic Synthesis of a Watt I Six-Bar Linkage for Body Guidance

    Article • January 2014, Springer Science + Business Media

    Prof John M McCarthy

  63. Computer Aided Design of Useful Spherical Watt I Six-Bar Linkages

    Article • August 2013, ASME International

    Prof John M McCarthy

  64. Synthesis of a Stephenson II Function Generator for Eight Precision Positions

    Article • August 2013, ASME International

    Prof John M McCarthy

  65. Use of the Jacobian to Verify Smooth Movement in Watt I and Stephenson I Six-Bar Linkages

    Article • August 2013, ASME International

    Prof John M McCarthy

  66. 21st Century Kinematics

    Article • January 2013, Springer Science + Business Media

    Prof John M McCarthy

  67. Polynomials, Computers, and Kinematics for the 21st Century

    Article • January 2013, Springer Science + Business Media

    Prof John M McCarthy

  68. Kinematic Synthesis

    Article • January 2013, Springer Science + Business Media

    Prof John M McCarthy

  69. Day/Night Polarimetric Anomaly Detection Using SPICE Imagery

    Article • IEEE Transactions on Geoscience and Remote Sensing, December 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  70. Design of a 5-SS Spatial Steering Linkage

    Article • August 2012, ASME International

    Prof John M McCarthy

  71. Dimensional Synthesis of Planar Six-Bar Linkages by Mechanically Constrain a PRR Serial Chain

    Article • August 2012, ASME International

    Prof John M McCarthy

  72. Dimensional Synthesis of Six-Bar Linkage as a Constrained RPR Chain

    Article • August 2012, Springer Science + Business Media

    Prof John M McCarthy

  73. Identification of a Usable Six-Bar Linkage for Dimensional Synthesis

    Article • August 2012, Springer Science + Business Media

    Prof John M McCarthy

  74. A constraint graph representation of metamorphic linkages

    Article • Mechanism and Machine Theory, February 2011, Elsevier

    Prof John M McCarthy

  75. 21st Century Kinematics: Synthesis, Compliance, and Tensegrity

    Article • Journal of Mechanisms and Robotics, January 2011, ASME International

    Prof John M McCarthy

  76. Five Position Synthesis of a Slider-Crank Function Generator

    Article • January 2011, ASME International

    Prof John M McCarthy

  77. Kinematics, Polynomials, and Computers—A Brief History

    Article • Journal of Mechanisms and Robotics, January 2011, ASME International

    Prof John M McCarthy

  78. Planar Kinematics

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  79. Spherical Kinematics

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  80. Spatial Kinematics

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  81. Algebraic Synthesis of Planar Chains

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  82. Algebraic Synthesis of Spatial Chains

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  83. Algebraic Synthesis of Spherical Chains

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  84. Analysis of Planar Linkages

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  85. Analysis of Spatial Chains

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  86. Analysis of Spherical Linkages

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  87. Clifford Algebra Synthesis of Serial Chains

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  88. Graphical Synthesis in the Plane

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  89. Introduction

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  90. Multiloop Planar Linkages

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  91. Multiloop Spherical Linkages

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  92. Platform Manipulators

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  93. Synthesis of Spatial Chains with Reachable Surfaces

    Article • October 2010, Springer Science + Business Media

    Prof John M McCarthy

  94. Correlation of environmental data measurements with polarimetric LWIR sensor measurements of manmade objects in natural clutter

    Article • April 2010, SPIE

    Prof John M McCarthy

  95. Configuration Synthesis of Metamorphic Mechanisms Based on Characteristic Incidence Matrix

    Article • January 2010, ASME International

    Prof John M McCarthy

  96. Difficulty of Kinematic Synthesis of Usable Constrained Planar 6R Robots

    Article • January 2010, Springer Science + Business Media

    Prof John M McCarthy

  97. Failure Recovery Planning for an Arm Mounted on an Exploratory Rover

    Article • IEEE Transactions on Robotics, December 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  98. Applications of the Geometric Design of Mechanical Linkages With Task Acceleration Specifications

    Article • January 2009, ASME International

    Prof John M McCarthy

  99. Seven-Position Synthesis of a Spatial Eight-Bar Linkage by Constraining a TRS Serial Chain

    Article • January 2009, ASME International

    Prof John M McCarthy

  100. Configuration Based Improved Synthesis of Metamorphic Mechanisms

    Article • January 2009, ASME International

    Prof John M McCarthy

  101. A design procedure for spherical six-bar linkages

    Article • Journal of Mechanisms and Robotics, January 2009, ASME International

    Prof John M McCarthy

  102. Introduction of the ASME Journal of Mechanisms and Robotics

    Article • Journal of Mechanisms and Robotics, January 2009, ASME International

    Prof John M McCarthy

  103. The algebraic synthesis of a spatial TS chain for a prescribed acceleration task

    Article • Mechanism and Machine Theory, October 2008, Elsevier

    Prof John M McCarthy

  104. The synthesis of six-bar linkages as constrained planar 3R chains

    Article • Mechanism and Machine Theory, February 2008, Elsevier

    Prof John M McCarthy

  105. Editorial: A New Year, a New Editor, and a New Journal

    Article • Journal of Mechanical Design, January 2008, ASME International

    Prof John M McCarthy

  106. Five Position Synthesis of Spherical (6, 7) Linkages

    Article • January 2008, ASME International

    Prof John M McCarthy

  107. Synthesis and Analysis of a Constrained Spherical Parallel Manipulator

    Article • January 2008, Springer Science + Business Media

    Prof John M McCarthy

  108. Assessment Criteria for the Conceptual Design of Six-Bar Linkages

    Article • January 2007, ASME International

    Prof John M McCarthy

  109. Kinematic Synthesis With Contact Direction and Curvature Constraints on the Workpiece

    Article • January 2007, ASME International

    Prof John M McCarthy

  110. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  111. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  112. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  113. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  114. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  115. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  116. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  117. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  118. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  119. Editorial November 2007

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  120. Editorial

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  121. Kinematic Mapping Based Assembly Mode Evaluation of Planar Four-Bar Mechanisms

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  122. Synthesis of Bistable Compliant Four-Bar Mechanisms Using Polynomial Homotopy

    Article • Journal of Mechanical Design, January 2007, ASME International

    Prof John M McCarthy

  123. Algorithm 857

    Article • ACM Transactions on Mathematical Software, December 2006, ACM (Association for Computing Machinery)

    Prof John M McCarthy

  124. A Polynomial Homotopy Formulation of the Inverse Static Analysis of Planar Compliant Mechanisms

    Article • Journal of Mechanical Design, January 2006, ASME International

    Prof John M McCarthy

  125. Editorial

    Article • Journal of Mechanical Design, January 2006, ASME International

    Prof John M McCarthy

  126. Editorial

    Article • Journal of Mechanical Design, January 2006, ASME International

    Prof John M McCarthy

  127. Editorial

    Article • Journal of Mechanical Design, January 2006, ASME International

    Prof John M McCarthy

  128. Editorial

    Article • Journal of Mechanical Design, January 2006, ASME International

    Prof John M McCarthy

  129. Kinematic Synthesis of Spatial Serial Chains Using Clifford Algebra Exponentials

    Article • Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, January 2006, SAGE Publications

    Prof John M McCarthy

  130. Editorial

    Article • Journal of Mechanical Design, January 2006, ASME International

    Prof John M McCarthy

  131. Geometric design of RRP, RPR and PRR serial chains

    Article • Mechanism and Machine Theory, November 2005, Elsevier

    Prof John M McCarthy

  132. The synthesis of an RPS serial chain to reach a given set of task positions

    Article • Mechanism and Machine Theory, July 2005, Elsevier

    Prof John M McCarthy

  133. Clifford Algebra Exponentials and Planar Linkage Synthesis Equations

    Article • Journal of Mechanical Design, January 2005, ASME International

    Prof John M McCarthy

  134. Editorial

    Article • Journal of Mechanical Design, January 2005, ASME International

    Prof John M McCarthy

  135. Editorial

    Article • Journal of Mechanical Design, January 2005, ASME International

    Prof John M McCarthy

  136. Engineering Design in 2030: Human Centered Design

    Article • Journal of Mechanical Design, January 2005, ASME International

    Prof John M McCarthy

  137. Editorial

    Article • Journal of Mechanical Design, January 2005, ASME International

    Prof John M McCarthy

  138. Dual Quaternion Synthesis of Constrained Robotic Systems

    Article • Journal of Mechanical Design, January 2004, ASME International

    Prof John M McCarthy

  139. Editorial

    Article • Journal of Mechanical Design, January 2004, ASME International

    Prof John M McCarthy

  140. Editorial

    Article • Journal of Mechanical Design, January 2004, ASME International

    Prof John M McCarthy

  141. Generalized Linear Product Homotopy Algorithms and the Computation of Reachable Surfaces

    Article • Journal of Computing and Information Science in Engineering, January 2004, ASME International

    Prof John M McCarthy

  142. Geometric Design of Cylindric PRS Serial Chains

    Article • Journal of Mechanical Design, January 2004, ASME International

    Prof John M McCarthy

  143. Geometric Design of Symmetric 3-RRS Constrained Parallel Platforms

    Article • January 2004, ASME International

    Prof John M McCarthy

  144. Editorial

    Article • Journal of Mechanical Design, January 2004, ASME International

    Prof John M McCarthy

  145. Kinematic Synthesis of Avatar Skeletons from Visual Data

    Article • January 2004, Springer Science + Business Media

    Prof John M McCarthy

  146. Editorial

    Article • Journal of Mechanical Design, January 2004, ASME International

    Prof John M McCarthy

  147. Editorial

    Article • Journal of Mechanical Design, January 2004, ASME International

    Prof John M McCarthy

  148. IN MEMORIAM: Dr. An Tzu Yang (1923–2003)

    Article • Journal of Mechanical Design, January 2004, ASME International

    Prof John M McCarthy

  149. Dimensional Synthesis of Bennett Linkages

    Article • Journal of Mechanical Design, January 2003, ASME International

    Prof John M McCarthy

  150. Editorial

    Article • Journal of Mechanical Design, January 2003, ASME International

    Prof John M McCarthy

  151. Editorial

    Article • Journal of Mechanical Design, January 2003, ASME International

    Prof John M McCarthy

  152. Trajectory Planning for Constrained Parallel Manipulators

    Article • Journal of Mechanical Design, January 2003, ASME International

    Prof John M McCarthy

  153. Editorial

    Article • Journal of Mechanical Design, January 2003, ASME International

    Prof John M McCarthy

  154. Editorial

    Article • Journal of Mechanical Design, January 2003, ASME International

    Prof John M McCarthy

  155. Bennett's linkage and the cylindroid

    Article • Mechanism and Machine Theory, November 2002, Elsevier

    Prof John M McCarthy

  156. Classification of RRSS linkages

    Article • Mechanism and Machine Theory, November 2002, Elsevier

    Prof John M McCarthy

  157. X‐ray guided robotic radiosurgery for solid tumors

    Article • Industrial Robot the international journal of robotics research and application, June 2002, Emerald

    Prof John M McCarthy

  158. Target motion analysis using range-only measurements: algorithms, performance and application to ISAR data

    Article • Signal Processing, February 2002, Elsevier

    Prof John M McCarthy

  159. Performance Evaluation of the Grasp of Two Cooperating Robots Using a Type Map

    Article • January 2002, Springer Science + Business Media

    Prof John M McCarthy

  160. Dual Quaternion Synthesis of Constrained Robots

    Article • January 2002, Springer Science + Business Media

    Prof John M McCarthy

  161. The Structure of an Extensible Java Applet for Spatial Linkage Synthesis

    Article • Journal of Computing and Information Science in Engineering, January 2002, ASME International

    Prof John M McCarthy

  162. An Extensible Java Applet for Spatial Linkage Synthesis

    Article • January 2002, ASME International

    Prof John M McCarthy

  163. Target tracking using range-only measurements: application to ISAR mode of Ingara radar

    Article • November 2001, SPIE

    Prof John M McCarthy

  164. Dimensional Synthesis of Bennett Linkages

    Article • September 2000, ASME International

    Prof John M McCarthy

  165. Avoiding singular configurations in finite position synthesis of spherical 4R linkages

    Article • Mechanism and Machine Theory, March 2000, Elsevier

    Prof John M McCarthy

  166. Dimensional Synthesis of Spatial RR Robots

    Article • January 2000, Springer Science + Business Media

    Prof John M McCarthy

  167. The design of spherical 4R linkages for four specified orientations

    Article • Mechanism and Machine Theory, July 1999, Elsevier

    Prof John M McCarthy

  168. Burmester Lines of Spatial Five Position Synthesis from the Analysis of a 3-CPC Platform

    Article • Journal of Mechanical Design, January 1999, ASME International

    Prof John M McCarthy

  169. Interpolation of Spatial Displacements Using the Clifford Algebra of E4

    Article • Journal of Mechanical Design, January 1999, ASME International

    Prof John M McCarthy

  170. The quartic singularity surfaces of planar platforms in the Clifford algebra of the projective plane

    Article • Mechanism and Machine Theory, October 1998, Elsevier

    Prof John M McCarthy

  171. Engineering Design in Industry: Teaching Students and Faculty to Apply Engineering Science in Design

    Article • Journal of Engineering Education, July 1998, Wiley

    Prof John M McCarthy

  172. SphinxPC: An Implementation of Four Position Synthesis for Planar and Spherical 4R Linkages

    Article • September 1997, ASME International

    Prof John M McCarthy

  173. A planar quaternion approach to the kinematic synthesis of a parallel manipulator

    Article • Robotica, July 1997, Cambridge University Press

    Prof John M McCarthy

  174. Center-point Curves Through Six Arbitrary Points

    Article • Journal of Mechanical Design, January 1997, ASME International

    Prof John M McCarthy

  175. Constraint Manifold Synthesis of Planar Linkages

    Article • August 1996, ASME International

    Prof John M McCarthy

  176. A Linkage Type Map for Spherical 4 Position Synthesis

    Article • September 1995, ASME International

    Prof John M McCarthy

  177. Perspectives in robotic systems

    Article • Journal of Robotic Systems, June 1995, Wiley

    Prof John M McCarthy

  178. The Synthesis of Planar RR and Spatial CC Chains and the Equation of a Triangle

    Article • Journal of Mechanical Design, January 1995, ASME International

    Prof John M McCarthy

  179. Determining Burmester Points from the Analysis of a Planar Platform

    Article • Journal of Mechanical Design, January 1995, ASME International

    Prof John M McCarthy

  180. The Synthesis of Planar RR and Spatial CC Chains and the Equation of a Triangle

    Article • Journal of Vibration and Acoustics, January 1995, ASME International

    Prof John M McCarthy

  181. Design of the Spatial 4C Mechanism for Rigid Body Guidance

    Article • September 1994, ASME International

    Prof John M McCarthy

  182. Designing Planar Mechanisms Using a Bi-Invariant Metric in the Image Space of SO (3)

    Article • September 1994, ASME International

    Prof John M McCarthy

  183. Five Position Synthesis of Spatial CC Dyads

    Article • September 1994, ASME International

    Prof John M McCarthy

  184. Characterizing the Workspace of the Spherical Image of Cooperating Robots

    Article • January 1994, Springer Science + Business Media

    Prof John M McCarthy

  185. Planning Grasp Points and Base Locations of Single Robots and Cooperating Robot Systems

    Article • January 1994, Springer Science + Business Media

    Prof John M McCarthy

  186. Determining maximum payloads for cooperating robots under time-optimal control

    Article • Robotics and Computer-Integrated Manufacturing, December 1993, Elsevier

    Prof John M McCarthy

  187. Designing Mechanisms for Workspace Fit

    Article • January 1993, Springer Science + Business Media

    Prof John M McCarthy

  188. A Parameterization of the Central Axis Congruence Associated with Four Positions of a Rigid Body in Space

    Article • Journal of Mechanical Design, January 1993, ASME International

    Prof John M McCarthy

  189. Kinematic Modules for Singularity-Free Movement With Three Cartesian Freedoms

    Article • Journal of Mechanical Design, January 1993, ASME International

    Prof John M McCarthy

  190. Time-Optimal Control of Two Robots Holding the Same Workpiece

    Article • Journal of Dynamic Systems Measurement and Control, January 1993, ASME International

    Prof John M McCarthy

  191. Dynamic Analysis of a Spherical Four Bar Mechanism

    Article • September 1992, ASME International

    Prof John M McCarthy

  192. Dynamics of Open and Closed Chain Spherical Mechanisms Using Quaternion Coordinates

    Article • September 1992, ASME International

    Prof John M McCarthy

  193. Static Analysis of Spherical nR Kinematic Chains With Joint Friction

    Article • September 1992, ASME International

    Prof John M McCarthy

  194. The number of saturated actuators and constraint forces during time-optimal movement of a general robotic system

    Article • IEEE Transactions on Robotics and Automation, June 1992, Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  195. Functional constraints as algebraic manifolds in a Clifford algebra

    Article • IEEE Transactions on Robotics and Automation, January 1991, Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  196. The design and control of a robot finger for tactile sensing

    Article • Journal of Robotic Systems, December 1988, Wiley

    Prof John M McCarthy

  197. The Image Curve of the Coupler of a Special Spherical Four Bar Linkage

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1988, ASME International

    Prof John M McCarthy

  198. The Image Curve of the Planet in a Spherical Epicyclic Gear Train

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1988, ASME International

    Prof John M McCarthy

  199. The Design of Three Jointed Two-Degree-of-Freedom Robot Fingers

    Article • September 1987, ASME International

    Prof John M McCarthy

  200. The Image Curve of the Motion of the Planet in a Spherical Epicyclic Gear Train

    Article • September 1987, ASME International

    Prof John M McCarthy

  201. The Image of the Coupler Motion of a Special Spherical Four Bar Linkage

    Article • September 1987, ASME International

    Prof John M McCarthy

  202. The differential geometry of curves in an image space of spherical kinematics

    Article • Mechanism and Machine Theory, January 1987, Elsevier

    Prof John M McCarthy

  203. On the Scalar and Dual Formulations of the Curvature Theory of Line Trajectories

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1987, ASME International

    Prof John M McCarthy

  204. Discussion: “Instantaneous Properties of Multi-Degrees-of-Freedom Motions—Line Trajectories” (Ghosal, A., and Roth, B., 1987, ASME J. Mech. Transm. Autom. Des., 109, pp. 116–124)

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1987, ASME International

    Prof John M McCarthy

  205. The Instantaneous Kinematics of Line Trajectories in Terms of a Kinematic Mapping of Spatial Rigid Motion

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1987, ASME International

    Prof John M McCarthy

  206. Editorial

    Article • The International Journal of Robotics Research, June 1986, SAGE Publications

    Prof John M McCarthy

  207. Dual Orthogonal Matrices in Manipulator Kinematics

    Article • The International Journal of Robotics Research, June 1986, SAGE Publications

    Prof John M McCarthy

  208. The Generalization of Line Trajectories in Spatial Kinematics to Trajectories of Great Circles on a Hypersphere

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1986, ASME International

    Prof John M McCarthy

  209. Differential Kinematics of Spherical and Spatial Motions Using Kinematic Mapping

    Article • Journal of Applied Mechanics, January 1986, ASME International

    Prof John M McCarthy, Bahram Ravani

  210. On the Relation Between Kinematic Mappings of Planar and Spherical Displacements

    Article • Journal of Applied Mechanics, January 1986, ASME International

    Prof John M McCarthy

  211. Computing the friction forces associated with a three-fingered grasp

    Article • IEEE Journal on Robotics and Automation, December 1985, Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  212. On grasping planar objects with two articulated fingers

    Article • IEEE Journal on Robotics and Automation, December 1985, Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  213. Discussion: “The Elliptic Polarity of Screws” (Lipkin, H., and Duffy, J., 1985, ASME J. Mech. Transm. Autom. Des., 107, pp. 377–386)

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1985, ASME International

    Prof John M McCarthy

  214. Discussion: Instantaneous Kinematics of a Plane in Spherical Motion (Ting, K.-L., and Soni, A. H., 1983, ASME J. Mech. Transm. Autom. Des., 105, pp. 560–567)

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1983, ASME International

    Prof John M McCarthy

  215. Planar and Spatial Rigid Motion as Special Cases of Spherical and 3-Spherical Motion

    Article • Journal of Mechanisms Transmissions and Automation in Design, January 1983, ASME International

    Prof John M McCarthy

  216. Instantaneous Properties of Trajectories Generated by Planar, Spherical, and Spatial Rigid Body Motions

    Article • Journal of Mechanical Design, January 1982, ASME International

    Prof John M McCarthy

  217. The Curvature Theory of Line Trajectories in Spatial Kinematics

    Article • Journal of Mechanical Design, January 1981, ASME International

    Prof John M McCarthy

  218. Dimensioning a Constrained Parallel Robot to Reach a Set of Task Positions

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  219. Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  220. Kinematics mappings and robotics

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  221. Constraint synthesis for planar n-R robots

    Article • Springer Science + Business Media

    Prof John M McCarthy

  222. Computing the friction forces associated with a three fingered grasp

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  223. On grasping planar objects with two articulated fingers

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof John M McCarthy

  224. Planning workpiece grasp points for cooperating robot movements

    Article • Springer Science + Business Media

    Prof John M McCarthy