Publications

Ph.D. Dissertation:

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

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.

Referred Journal Papers :

  1. Su, H.-J. , and McCarthy J.M., " Synthesis of Bistable Compliant Four-bar Mechanisms using Polynomial Homotopy," accepted by ASME Journal of Mechanical Design , May 2006. (PDF)
  2. Su, H.-J. , McCarthy, J.M., Sosonkina, M. and Watson, L.T., "Algorithm xxx: POLSYS_GLP: A Parallel General Linear Product Homotopy Code for Solving Polynomial Systems of Equations," (in press) ACM Transactions on Mathematical Software, 2006. (PDF)
  3. 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)
  4. 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)
  5. 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)
  6. 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)
  7. 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)
  8. Su, H.-J. , Collins, C.L., and McCarthy, J.M., "Classification of RRSS Linkages," Mechanism and Machine Theory , 37:1413-1433, 2002. (PDF)
  9. 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)
  10. 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)
  11. 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. 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)
  2. 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)
  3. 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)
  4. 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)
  5. 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)
  6. 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)
  7. 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)
  8. 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)
  9. 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)
  10. 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)
  11. 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)
  12. 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)

 

 

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