Publications

 

  • Referred Journal Papers :
    1. Tari, H. and Su, H.-J., "Complete solution of the path generation of a crank-slider linkage", accepted by ASME Journal of Mechanical Design, April, 2010. (PDF)
    2. Tari, H., Su, H.-J., and Li, T.-Y. "A Constrained Homotopy Technique for Excluding Unwanted Solutions From Polynomial Equations Arising in Kinematics Problems", Mechanism and Machine Theory, pp. 898-910, vol.45, no. 6, June 2010. (PDF)
    3. Alvarez, J.C. and Su, H.-J., "VRMDS: An Intuitive Virtual Environment for Supporting the Conceptual Design of Mechanisms", Journal of Virtual Reality, Special Issue Manufacture and Construction, November, 2009. (PDF)
    4. Qiao, S., Liao, Q., Wei, S. and Su, H.-J., "Inverse Kinematic Analysis of the General 6R Serial Manipulator Based on Double Quaternion", Mechanism and Machine Theory, vol. 45, no. 2, pp. 193-199, February 2010.
    5. Su, H.-J., Dorozhkin, D.V., Vance, J.M., "A Screw Theory Approach for the Conceptual Design of Flexible Joints for Compliant Mechanisms", ASME Journal of Mechanisms and Robotics, pp. 041009, vol.1, no. 4, November 2009. (PDF)
    6. Pei, X., Yu, J., Zong, G., Bi, S., Su, H.-J., "The modeling of cartwheel flexural hinges", Mechanism and Machine Theory, vol. 44, no. 10, pp. 1900-1909, October 2009.
    7. Su, H.-J. , "A Pseudo-Rigid-Body 3R Model for Determining Large Deflection of Cantilever Beams Subject to Tip Loads,"ASME Journal of Mechanisms and Robotics , pp. 021008:1-9, vol. 1, no. 2, May, 2009. (PDF)
    8. Seth, A., Su, H.-J. and Vance, J.M., "Development of a Dual-Handed Haptic Assembly System: SHARP," ASME Journal of Computing and Information Science in Engineering, vol. 8, no. 4, 2008. (PDF)
    9. Su, H.-J. , and McCarthy J.M., " Synthesis of Bistable Compliant Four-bar Mechanisms using Polynomial Homotopy," ASME Journal of Mechanical Design , 129(10), pp. 1094-1098, 2007. (PDF)
    10. Su, H.-J. , McCarthy, J.M., Sosonkina, M. and Watson, L.T., "Algorithm 857: POLSYS_GLP: A Parallel General Linear Product Homotopy Code for Solving Polynomial Systems of Equations,"ACM Transactions on Mathematical Software, 32(4), pp. 561-579, 2006. (PDF)
    11. Su, H.-J. , and McCarthy J.M., "A Polynomial Homotopy Formulation of the Inverse Static Analysis of Planar Complaint Mechanisms", ASME Journal of Mechanical Design , 128(4):776-786, 2006. (PDF)
    12. Su, H.-J. and McCarthy J.M., "Kinematic Synthesis of RPS Serial Chains for a Given Set of Task Positions", Mechanism and Machine Theory , 40(7):757-775, 2005. (PDF)
    13. Su, H.-J. , McCarthy, J.M. and Watson, L.T., "Generalized Linear Product Polynomial Continuation and the Computation of Reachable Surfaces", ASME Journal of Information and Computer Sciences in Engineering ., 4(3): 226-234, September, 2004. (PDF)
    14. Su, H.-J. , Wampler, C.W. and McCarthy J.M., "Geometric Design of Cylindric PRS Serial Chains", ASME Journal of Mechanical Design , 126(1):269-277, 2004. (PDF)
    15. Su, H.-J. , Dietmaier, P. and McCarthy, J.M., "Trajectory Planning for Constrained Parallel Manipulators," ASME Journal of Mechanical Design , 125(4):709-716, 2003. (PDF)
    16. Su, H.-J. , Collins, C.L., and McCarthy, J.M., "Classification of RRSS Linkages," Mechanism and Machine Theory , 37:1413-1433, 2002. (PDF)
    17. Collins, C.L., McCarthy, J. M., Perez, A., and Su, H.-J. , "The Structure of an Extensible Java Applet for Spatial Linkage Synthesis", ASME Journal of Computing and Information Science in Engineering , 2:45 -49, 2002. (PDF)
    18. Su, H.-J. , Liao, Q., and Liang, C., "Direct Positional Analysis of a kind of 5-5 Platform In-Parallel Robotic Mechanism," Mechanism and Machine Theory , 34:285-301, 1999. (PDF)
    19. Su, H.-J. , Liao, Q., Liang, C., Wu, T. "Algebraic Elimination Algorithm for Solving the Inverse Kinematics of General 6R Manipulators," Chinese Journal of Robots , 21:688-693, 1999. (PDF)

     

  • Referred Conference Proceedings:
    1. Su, H.-J. and Tari, H., "On Line Screw Systems and Its Application to Flexure Synthesis", 2010 ASME International Design Engineering Technical Conferences, Montreal, Canada, August 15-18, 2010. (PDF)
    2. Su, H.-J. and Tari, H., "Synthesis of Flexures for Orthogonal Motions", 2010 ASME International Design Engineering Technical Conferences, Montreal, Canada, August 15-18, 2010. (PDF)
    3. Cong Yue, Su, H.-J., Juan C. Alvarez, and Qiaode Jeffery Ge, "Enabling Dynamics Simulation of CAD Assembly in a Virtual Environment for Machine Design", ASME 2010 World Conference on Innovative Virtual Reality (WINVR10), Ames, IA, May 12-14, 2010. (PDF)
    4. Wu, J., Ge, Q. J., Su, H.-J. and Gao, F., " Kinematic Acquisition of Geometric Constraints For Task Centered Mechanism Design", 2010 ASME International Design Engineering Technical Conferences, Montreal, Canada, August 15-18, 2010.
    5. Li, S.Z., Yu, J.J., Pei, X., Su, H.-J., Hopkins, J.B., Culpepper, M.L., "Type synthesis principle and practice of flexure systems in the framework of screw theory part I: general methodology", 2010 ASME International Design Engineering Technical Conferences, Montreal, Canada, August 15-18, 2010.
    6. Li, S.Z., Yu, J.J., Pei, X., Su, H.-J., Hopkins, J.B., Culpepper, M.L., "Type synthesis principle and practice of flexure systems in the framework of screw theory part II: numerations and synthesis of large-displacement flexible joints", 2010 ASME International Design Engineering Technical Conferences, Montreal, Canada, August 15-18, 2010.
    7. Li, S.Z., Yu, J.J., Pei, X., Su, H.-J., Hopkins, J.B., Culpepper, M.L., "Type synthesis principle and practice of flexure systems in the framework of screw theory part III: numerations and synthesis of flexure mechanisms", 2010 ASME International Design Engineering Technical Conferences, Montreal, Canada, August 15-18, 2010.
    8. Su, H.-J., Dorozhkin, D.V., Vance, J.M., "A Screw Theory Approach for the Conceptual Design of Flexible Joints for Compliant Mechanisms", ASME International Design Engineering Technical Conferences , August 30 – September 2, 2009, San Diego, CA. (Compliant Mechanism Theory Award)
    9. Seth, A., Su, H.-J. and Vance, J.M., "SHARP: A System for Haptic Assembly & Realistic Prototyping," ASME International Design Engineering Technical Conferences , September 10 – 13 2006, Philadelphia , Pennsylvania. (PDF)
    10. Seth, A., Su, H.-J. and Vance, J.M., "A Desktop Networked Haptic VR Interface for Mechanical Assembly," ASME International Mechanical Engineering Congress and Exposition , November 5 – 11 2005, Orlando , Florida. (PDF)
    11. Su, H.-J. and McCarthy, J.M., "Synthesis of Compliant Mechanisms with Specified Equilibrium Positions," accepted by ASME International Design Engineering Technical Conferences , Sept. 24-28 2005, Long Beach , California. (Finalist of Best Paper Award) (PDF)
    12. Su, H.-J. , McCarthy J.M., "Dimensioning a Constrained Parallel Robot to Reach a Set of Task Positions," IEEE International Conference on Robotics and Automation, April 18-22 2005, Barcelona , Spain. (PDF)
    13. Wolbrecht, E., Su, H.-J. , Perez, A. and McCarthy, J.M. "Geometric Design Of Symmetric 3-RRS Constrained Parallel Platforms," ASME International Mechanical Engineering Congress and Exposition , November 13-19 2004, Anaheim , CA. (PDF)
    14. Perez, A., Su, H.-J. , and McCarthy, J.M., "SYNTHETICA 2.0: Software for the Synthesis of Constrained Serial Chains," ASME International Design Engineering Technical Conferences , Sept. 28-Oct. 2 2004, Salt Lake City , UT. (PDF)
    15. Su, H.-J. and McCarthy, J.M., "Inverse Static Analysis for A Planar Compliant Platform Mechanism," ASME International Design Engineering Technical Conferences , Sept. 28-Oct. 2 2004, Salt Lake City , UT. (PDF)
    16. Su, H.-J. , Wampler, C.W. and McCarthy J.M., "Geometric Design of Cylindric PRS Serial Chains", ASME International Design Engineering Technical Conferences , Sept.02-06 2003, Chicago , IL. (PDF)
    17. Su, H.-J. and McCarthy J.M., "Kinematic Synthesis of RPS Serial Chains", ASME International Design Engineering Technical Conferences , Sept.02-06 2003, Chicago , IL. (PDF)
    18. Su, H.-J., Collins, C.L., and McCarthy, J.M., "An Extensible Java Applet for Spatial Linkage Synthesis", ASME International Design Engineering Technical Conferences , Sept.29-Oct.2 2002, Montreal , Quebec , Canada . ( Mechanical Dynamics Simulation Software Award, Mechanisms & Robotics Conference) (PDF)
    19. Gascons, N., Su, H.-J. and McCarthy, J.M., "Performance Evaluation of the Grasp of Two Cooperating Robots Using a Type Map", Advances in Robot Kinematics , pp.48-56, 2002, Kluwer Academic Publishing, edited by J. Lenarcic, and F. Thomas, Spain. (PDF)
    20. Su, H.-J. , and McCarthy, J.M., "Classification of Design for RRSS Linkages," ASME International Design Engineering Technical Conferences , Sept.9-12, 2001, Pittsburgh , PA. (PDF)

    Book Chapter :

    1. McCarthy, J.M. and Su, H.-J. , "Computation of Reachable Surfaces for a Specified Set of Spatial Displacements", Handbook of Geometric Computing: applications in Pattern Recognition, Computer Vision, Neurocomputing, and Robotics, Eduardo Bayro-Corrochano (eds.), Springer Verlag , 2005.

    Ph.D. Dissertation:

    Su, H.-J. , Computer-Aided Constrained Robot Design Using Mechanism Synthesis Theory, University of California, Irvine, 2004. (PDF, 12 MB)

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