Spatial Mechanism Design and Analysis

Research is focused on the design and analysis of spatial serial and parallel mechanisms with emphasis placed on the development of mechanisms that can be used to control contact forces.

The particular research tasks are listed as follows:

* development of passive compliant manipulator wrist mechanism
* design of active mechanisms to manipulate large payloads and control contact forces
* closed-form analysis of tensegrity mechanisms
* incorporation of tensegrity principles in parallel mechanisms
* design and analysis of variable compliant mechanisms
* design and analysis of systems with variable damping
* use of non-circular gearing in spatial mechanisms