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Proceedings Papers

On the Workspace of Closed-Loop Manipulators With Ground-Mounted Rotary-Linear Actuators and Finite Size Platform

Tzu-Chen Weng, G. N. Sandor, Yongxian Xu, D. Kohli
Proc. ASME. DETC87, 13th Design Automation Conference: Volume 2 — Robotics, Mechanisms, and Machine Systems, 55-61, September 27–30, 1987
Publisher: American Society of Mechanical Engineers
Paper No: DETC1987-0063
https://doi.org/10.1115/DETC1987-0063
View Paper titled, On the Workspace of Closed-Loop Manipulators With Ground-Mounted Rotary-Linear Actuators and Finite Size Platform
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Topics: Actuators, Manipulators, Sferics
Proceedings Papers

Displacement Analysis of a Six-DOF Parallel Manipulator With 3R3P and 4R2P Chains

R. Kamra, D. Kohli, A. K. Dhingra
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A016, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5968
https://doi.org/10.1115/DETC98/MECH-5968
View Paper titled, Displacement Analysis of a Six-DOF Parallel Manipulator With 3R3P and 4R2P Chains
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Topics: Chain, Displacement, Manipulators, Degrees of freedom
Proceedings Papers

A Gröbner-Sylvester Hybrid Method for Closed-Form Displacement Analysis of Mechanisms

A. K. Dhingra, A. N. Almadi, D. Kohli
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A017, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5969
https://doi.org/10.1115/DETC98/MECH-5969
View Paper titled, A Gröbner-Sylvester Hybrid Method for Closed-Form Displacement Analysis of Mechanisms
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Topics: Displacement, Polynomials, Generators
Proceedings Papers

A Framework for Closed-Form Displacement Analysis of 10-Link 1-DOF Mechanisms

A. K. Dhingra, A. N. Almadi, D. Kohli
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A087, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5885
https://doi.org/10.1115/DETC98/MECH-5885
View Paper titled, A Framework for Closed-Form Displacement Analysis of 10-Link 1-DOF Mechanisms
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Topics: Displacement, Polynomials, Kinematic chains
Proceedings Papers

Displacement Analysis of Multi-Loop Mechanisms Using Gröbner Bases

A. K. Dhingra, A. N. Almadi, D. Kohli
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A088, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5906
https://doi.org/10.1115/DETC98/MECH-5906
View Paper titled, Displacement Analysis of Multi-Loop Mechanisms Using Gröbner Bases
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Topics: Displacement, Polynomials, Algebra, Algorithms, Generators
Proceedings Papers

A Closed-Form Approach to Coupler-Curves of Multi-Loop Mechanisms

A. K. Dhingra, A. N. Almadi, D. Kohli
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A092, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5925
https://doi.org/10.1115/DETC98/MECH-5925
View Paper titled, A Closed-Form Approach to Coupler-Curves of Multi-Loop Mechanisms
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Topics: Algebra, Polynomials, Theorems (Mathematics)
Proceedings Papers

Polynomial Solutions to the Displacement Analysis of 10-Link 1-DOF Mechanisms

A. K. Dhingra, A. N. Almadi, D. Kohli
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A090, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5928
https://doi.org/10.1115/DETC98/MECH-5928
View Paper titled, Polynomial Solutions to the Displacement Analysis of 10-Link 1-DOF Mechanisms
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Topics: Displacement, Polynomials, Degrees of freedom, Kinematic chains, Manufacturing
Proceedings Papers

Closed Form Solutions for Connectivity and Connectivity of Motion in Mechanisms

D. Kohli, N. Razmara, A. K. Dhingra
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 75-82, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14056
https://doi.org/10.1115/DETC2000/MECH-14056
View Paper titled, Closed Form Solutions for Connectivity and Connectivity of Motion in Mechanisms
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Topics: Chain
Proceedings Papers

On the Degrees of Freedom of Motion of Planar-Spatial Mechanisms

N. Razmara, D. Kohli, A. K. Dhingra
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1135-1141, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14177
https://doi.org/10.1115/DETC2000/MECH-14177
View Paper titled, On the Degrees of Freedom of Motion of Planar-Spatial Mechanisms
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Topics: Degrees of freedom, Chain, Mechanical admittance
Proceedings Papers

Double Points and Unstable Configurations of Stephenson-I, -II, and -III Mechanisms

D. Kohli, C. A. Pan, A. K. Dhingra
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1143-1153, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14178
https://doi.org/10.1115/DETC2000/MECH-14178
View Paper titled, Double Points and Unstable Configurations of Stephenson-I, -II, and -III Mechanisms
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Topics: Algebra, Composite materials, Displacement, Polynomials
Proceedings Papers

Unstable Configurations and Redundant Actuation in Planar Mechanisms

D. Kohli, C. A. Pan, A. K. Dhingra
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1333-1341, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14200
https://doi.org/10.1115/DETC2000/MECH-14200
View Paper titled, Unstable Configurations and Redundant Actuation in Planar Mechanisms
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Topics: Actuators, Degrees of freedom, Kinematics
Proceedings Papers

Double Points and Unstable Configurations of Watt-I and Watt-II Mechanisms

C. A. Pan, D. Kohli, A. K. Dhingra
Proc. ASME. IDETC-CIE2000, Volume 7B: 26th Biennial Mechanisms and Robotics Conference, 1343-1352, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14201
https://doi.org/10.1115/DETC2000/MECH-14201
View Paper titled, Double Points and Unstable Configurations of Watt-I and Watt-II Mechanisms
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Topics: Algebra, Composite materials, Displacement, Polynomials
Journal Articles

A Framework for Closed-Form Displacement Analysis of Planar Mechanisms

A. N. Almadi, A. K. Dhingra, D. Kohli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1999, 121(3): 392–401.
https://doi.org/10.1115/1.2829474
Published Online: September 1, 1999
View Articletitled, A Framework for Closed-Form Displacement Analysis of Planar Mechanisms
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Topics: Displacement, Polynomials, Algebra
Journal Articles

A Gro¨bner-Sylvester Hybrid Method for Closed-Form Displacement Analysis of Mechanisms

A. K. Dhingra, A. N. Almadi, D. Kohli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. December 2000, 122(4): 431–438.
https://doi.org/10.1115/1.1290395
Published Online: August 1, 1999
View Articletitled, A Gro¨bner-Sylvester Hybrid Method for Closed-Form Displacement Analysis of Mechanisms
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Topics: Displacement, Polynomials
Journal Articles

A Closed-Form Approach to Coupler-Curves of Multi-Loop Mechanisms

A. K. Dhingra, A. N. Almadi, D. Kohli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. December 2000, 122(4): 464–471.
https://doi.org/10.1115/1.1290394
Published Online: August 1, 1999
View Articletitled, A Closed-Form Approach to Coupler-Curves of Multi-Loop Mechanisms
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Topics: Theorems (Mathematics), Polynomials
Journal Articles

Near-Minimum Time Feedback Controller for Manipulators Using On-Line Time Scaling of Trajectories

A. Kumagai, D. Kohli, R. Perez
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 1996, 118(2): 300–308.
https://doi.org/10.1115/1.2802318
Published Online: June 1, 1996
View Articletitled, Near-Minimum Time Feedback Controller for Manipulators Using On-Line Time Scaling of Trajectories
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Topics: Control equipment, Feedback, Manipulators, Torque, Algorithms, Control theory, Time optimal control, Trajectories (Physics)
Journal Articles

Automated Formation of Closed Form Kinematic Displacement Polynomials for Open Loop Planar and Spatial Chains

S. C. Jen, D. Kohli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1995, 117(1): 83–88.
https://doi.org/10.1115/1.2826121
Published Online: March 1, 1995
View Articletitled, Automated Formation of Closed Form Kinematic Displacement Polynomials for Open Loop Planar and Spatial Chains
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Topics: Chain, Displacement, Kinematics, Polynomials, Manipulators
Journal Articles

Synthesis of Six-link, Slider-crank and Four-link Mechanisms for Function, Path and Motion Generation Using Homotopy with m-homogenization

A. K. Dhingra, J. C. Cheng, D. Kohli
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. December 1994, 116(4): 1122–1131.
https://doi.org/10.1115/1.2919496
Published Online: December 1, 1994
View Articletitled, Synthesis of Six-link, Slider-crank and Four-link Mechanisms for Function, Path and Motion Generation Using Homotopy with m-homogenization
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Topics: Generators
Journal Articles

Direct Differential Kinematics of Hybrid-Chain Manipulators Including Singularity and Stability Analyses

Yong-Xian Xu, D. Kohli, Tzu-Chen Weng
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 1994, 116(2): 614–621.
https://doi.org/10.1115/1.2919422
Published Online: June 1, 1994
View Articletitled, Direct Differential Kinematics of Hybrid-Chain Manipulators Including Singularity and Stability Analyses
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Topics: Chain, Kinematics, Manipulators, Stability, Jacobian matrices, Degrees of freedom, Actuators
Journal Articles

Assemblability, Circuits, Branches, Locking Positions, and Rotatability of Input Links of Mechanisms With Four Closures

D. Kohli, Jyun-Cheng Cheng, K. Y. Tsai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1994, 116(1): 92–98.
https://doi.org/10.1115/1.2919383
Published Online: March 1, 1994
View Articletitled, Assemblability, Circuits, Branches, Locking Positions, and Rotatability of Input Links of Mechanisms With Four Closures
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Topics: Circuits, Cycles, Displacement, Locks (Waterways), Polynomials, Rotation