Research Projects

Schönflies-Motion Generator (SMG)

A four degree-of-freedom parallel-kinematics machine (PKM): three translations and one rotation about an axis of fixed direction. The SMG bears features absent in the prior art: The motion is transmitted to the end-effector by only two legs, the layout being fully symmetrical in that all motors are assigned the same load. The mechanical architecture of the SMG is patent-protected (Animation). For a pdf presentation of the system, see SMG060912.pdf. For the videos of the system, please click MOV1.avi, MOV2.avi, MOV3.avi, MOV4.avi.

Multi-Modular Manipulator

An 11-axis Multi-Modular Manipulator (M3) designed as a cascade of three modules: The Macro-Manipulator, the Cuatro Arm, and the Agile Wrist.

Dual-Wheeled Mobile Robots

Research on distributed robotics, distributed information systems, sensor based robotics, and reconfigurable systems.

CAD/CAE Software Packages

• USyCams
• BEAVER
• SIXPAQ

The State of the Art of Mechanical-Transmission Technology

A transmission mechanism, based on cam mechanisms,  provides a viable alternative to conventional transmissions (e.g., gears, harmonic drives and direct drives).

Robot Visualization System for Windows (RVS4W)

RVS is a piece of software written in C/C++, that works on Windows machines. The package is intended as a 3D visual tool for robot design and path-planning.

The New Architecture of Phase Change

This project is a joint effort between the Department of Mechanical Engineering and the School of Architecture. The research is founded on computer assisted construction with ice using a robot to build small-scale structures and industrial prototypes. Ultimately, with the help of a larger robot, we will attempt to generate architectural-scale ice structures.

Design Theory and Methodology

Khan, W.A. and Angeles, J. (2010). Novel Paradigm for the Qualitative Synthesis of Simple Kinematic Chains Based on Complexity Measures. (Download)

Alizadeh, D., Angeles, J. and Nokleby, S. (2010). A Novel Pan-tilt Motion Generator. (Download)