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Refereed Publications in Research Journals

  1. Zhang, S., Li, W., Zhou, S., Angeles, J., Chen, W., Gao, F. and Guo, W., 2024, "Kinematics and workspace analysis of a 3-CR(Pa)(Pa)R parallel mechanism with an orthogonal layout,” Mechanism and Machine Theory, Vol. 195, article 105616.
  2. Han, H. and Angeles, J., 2024, "Dynamics of a Parallel-Kinematics Machine With Six Pairs of Offset Joints,” ASME Journal of Mechanisms and Robotics , vol. 16, No. 3, pp. 031015-1 -- 031015-9 .
  3. Metin, T., Han, H. and Angeles, J., 2024, "Workspace, Singularity and Dexterity Analyses of a Six-dof SDelta Robot with an Orthogonal Base Platform,” ASME Journal of Mechanisms and Robotics , vol. 16, No. 7, pp. 071010-1 -- 071010-11 .
  4. Zhang, Z., Chen, G., Xun, Y., Long, Y., Wang, J., Wang, H., Angeles, J., 2023, "Bio-inspired Rigid-Soft Hybrid Origami Actuator with Controllable Versatile Motion and Variable Stiffness,” IEEE Transactions on Robotics , vol. 39, No. 6, pp. 4768--4784.
  5. Li, C., Hu, C., Angeles, J., Qin, Z., Xie, H., Wang, X. and Xiao, H., 2023, "Dynamics of a modular manipulator with multiple actuation modes for space applications,” Mechanism and Machine Theory, Vol. 189, article 105408.
  6. Liu, S., Chen, C. and Angeles, J., 2023, "A novel framework for the analysis of underactuated fingers,” Mechanism and Machine Theory, Vol. 182, article 105238.
  7. Sun, Q., Angeles, J. and Chen, G., 2022, "The Cartesian elastodynamics linear model of mechanical systems with flexible links,” Mechanism and Machine Theory, Vol. 157, article 104559.
  8. Li, C., Angeles, J. Guo, H., Tang, D., Liu, R., Qin, Z. and Xiao, H., 2021, "On the Actuation Modes of a Multiloop Mechanism for Space Applications,” IEEE/ASME Transactions on Mechatronics, DOI: 10.1109/TMECH.2021.3121723.
  9. Li, C., Angeles, J., Guo H., Yan H., Tang D., Liu R. and Deng, Z., 2021, "Mobility and singularity analyses of a symmetric multi-loop mechanism for space applications ,” Proc IMechE Part C: J Mechanical Engineering Science, DOI: 10.1177/0954406221995555.
  10. Liu, S., Van, M., Chen, Z., Angeles, J. and Chen, C., 2021, "A novel prosthetic finger design with high load-carrying capacity,” Mechanism and Machine Theory, Vol. 156, article 104121.
  11. Yin, Z., Belzile, B., Angeles, J. and Forbes, J.R., 2020, "Elastodynamics of a parallel Schönflies-motion generator,” Transactions of the CSME, Vol. 44, No. 4, pp. 511-519.
  12. Li, W., Angeles, J. and Gao, F., 2020, "The kinematics and design for quasi-isotropy of 3U serial manipulators with reduced wrists,” Mechanism and Machine Theory, Vol. 154, article 104035.
  13. Azar, T., McLennan, S., Walsh, M., Angeles, J., Kövecses, J., Jaramillo, T., Mongrain, R. and Cecere, R., 2020, "Dynamic left atrioventricular phantom test bed emulating mitral valve motion,” ASME J Medical Devices, Vol. 14, No. 3, pp. 031001-1--031001-8.
  14. Shan, X., Angeles, J. and Forbes, J.R., 2020, "A class of biaxial micro/meso-scale structures for isotropic in-plane inertial sensing and actuation: design, fabrication and experiments,” Microsystem Technologies, Vol. 26, pp. 2639-2648.
  15. Shan, X., Angeles, J. and Forbes, J.R., 2020, "Design and configuration of folded platonic strapdowns of biaxial MEMS accelerometers,” ASME J Mechanical Design, Vol. 143, No. 2, pp.025001-1--025001-6.
  16. Chen, G., Wang, J., Wang, H., Cehn, C., Parenti-Castelli, V. and Angeles, J., 2020, “Design and validation of a spatial two-limb 3R1T parallel manipulator with remote center-of-motion,” Mechanism and Machine Theory, Vol. 149, article 103807, DOI: 10.1016/j.mechmachtheory.2020.103807.
  17. Figliolini, G., Lani, C. and Angeles, J., 2020, “Kinematic analysis of the planar motion of vehicles when traveling along tractrix curves,” ASME Journal of Mechanisms and Robotics, Vol. 12, No. 5, pp. 054502-1--054502-5, DOI: 10.1115/1.4046509.
  18. Wu, X., Angeles, J., Zou, T., Yang, J, Li, H. and Li, W., 2020, “Trajectory planning with Lam?curve blending for motor-saturation avoidance upon mobile-robot turning,” IEEE Access, pp. 1-14, Online ISSN: 2169-3536, DOI: 10.1109/ACCESS.2020.2982740.
  19. Wu, X., Angeles, J., Zou, T., Sun, C., Sun, Q. and Wang, L., 2020, “Receding-horizon vision guidance with smooth trajectory blending in the field of view of mobile robots,” Applied Sciences, Vol. 10, No. 2, 676.
  20. Belzile, B., Karimi Eskandary, P. and Angeles, J., 2020, “Workspace determination and feedback control of a pick-and-place parallel robot: Analysis and experiments,” IEEE Robotics and Automation Letters, Vol. 5, No. 1, pp. 40-47.
  21. Wang, Y., Belzile, B., Angeles, J. and Li, Q., 2019, “The modeling of redundantly actuated mechanical systems,” ASME Journal of Mechanisms and Robotics, Vol. 11, Issue 6, pp. 061005-1--061005--10, DOI: 10.1115/1.4044540.
  22. Bai, S., Li, X. and Angeles, J., 2019, “A review of spherical motion generation using either spherical parallel manipulators or spherical motors,” Mechanism and Machine Theory, Vol. 140, pp. 377-388.
  23. Stachel, H., Figliolini, G. and Angeles, J., 2019, “The logarithmic spiral and its spherical counterpart,” Journal of Industrial Design and Engineering Graphics, Vol. 14, No. 1, pp. 91-98.
  24. Wang, Y., Belzile, B., Angeles, J. and Li, Q., 2019, “Kinematic analysis and optimum design of a novel 2PUR-2RPU parallel robot,” Mechanism and Machine Theory, Vol. 139, pp. 407-423.
  25. Belzile, B. and Angeles, J., 2019, “Reflections Over the dual ring-Applications to kinematic synthesis,” ASME Journal of Mechanical Design, Vol. 141, Issue 7, pp. 072302-1--072302-9, DOI: 10.1115/1.4043204.
  26. Karimi Eskandary, P., Belzile, B. and Angeles, J., 2019, “Trajectory-planning and normalized-variable control for parallel pick-and-place robots,” ASME Journal of Mechanisms and Robotics, Vol. 11, No. 3, pp. 031001-1--031001-8, DOI: 10.1115/1.4042631.
  27. Shan, X., Angeles, J. and Forbes, J.R., 2019, “A novel capacitive sensing structure for simultaneous detectionof biaxial low-g acceleration in a commercial MEMS process,” Microsystem Technologies, Technical Paper, DOI: 10.1007/s00542-019-04432-0.
  28. Morozov, A., Humphries, K., Rahman, T., Zou, T. and Angeles, J., 2019, “Drivetrain analysis and optimization of a two-speed class-4 electric delivery truck,” SAE International Journal, Technical Paper 2019-01-5001, DOI:10.4271/2019-01-5001.
  29. Figliolini, G., Stachel, H. and Angeles, J., 2019, “Kinematic properties of planar and spherical logarithmic spirals: Applications to the synthesis of involute tooth profiles,” Mechanism and Machine Theory, Vol. 136, pp. 14-26.
  30. Javid, F., Shahmansouri, N., Angeles, J. and Mongrain, R., 2019, “Fatigue exhaustion of the mitral valve tissue,” Biomechanics and Modeling in Mechanobiology, Vol. 18, No. 1, pp. 89-97.
  31. Wu, X., Angeles, J., Zou, T., Xiao, H., Li, W. and Lou, P., 2018, “Steering-angle computation for the multibody modelling of differential-driving mobile robots with a caster,” International Journal of Advanced Robotic Systems, Nov.-Dec. pp. 1-13. DOI: 10.1177/1729881418820166.
  32. Setiawan, Y., Roozegar, M., Zou, T., Morozov, A. and Angeles, J., 2018, “A topology-change model of multi-speed transmissions in electric vehicles during gear-shifting,” Mechatronics, Vol. 55, pp. 151-161.
  33. Zou, T., Angeles, J., and Hassani, F., 2018, “Dynamic modeling and trajectory tracking control of unmanned tracked vehicles,” Robotics and Autonomous Systems, Vol. 110, pp. 102-111.
  34. Karimi Eskandary, P. and Angeles, J., 2018, “The virtual screw: Concept, design and applications,” Mechanism and Machine Theory, Vol. 128, pp. 349-358.
  35. Morozov, A., Humphries, K., Zou, T., Rahman, T. and Angeles, J., 2018, “Design, analysis, and optimization of a multi-speed powertrain for class-7 electric trucks,” SAE International Journal, DOI:10.4271/08-07-01-0002.
  36. Corinaldi, D., Callegari, M., and Angeles, J., 2018, “Singularity-free path-planning of dexterous pointing tasks for a class of spherical parallel mechanisms,” Mechanism and Machine Theory, Vol. 128, pp. 47-57.
  37. Li, W., and Angeles, J., 2018, “Full-mobility 3-CCC parallel-kinematics machines: forward kinematics, singularity, workspace and dexterity analyses,” Mechanism and Machine Theory, Vol. 126, pp. 312-328.
  38. Li, W. and Angeles, J., 2018, “The design for isotropy of a class of six-dof parallel-kinematics machines,” Mechanism and Machine Theory, Vol. 126, pp. 34-48.
  39. Li, W., Howison, T., and Angeles, J., 2018, “On the use of the dual Euler-Rodrigues parameters in the numerical solution of the inverse-displacement problem,” Mechanism and Machine Theory, Vol. 125, pp. 21-33.
  40. Zou, T., and Angeles, J., 2018, “An algorithm for rigid-body angular velocity and attitude estimation based on isotropic accelerometer strapdowns,” ASME Journal of Applied Mechanics, Vol. 85, Issue 6, pp. 061010-1--061010-10, DOI: 10.1115/1.4039435.
  41. Shan, X., Angeles, J. and Forbes, J.R., 2018, “Design of a Biaxial High Frequency-ratio Low-g MEMS Accelerometer,” Microsystem Technologies, DOI 10.1007/s00542-018-3862-x.
  42. Li, W., and Angeles, J., 2018, “The design of a 3-CPS parallel robot for maximum dexterity,” Mechanism and Machine Theory, Vol. 122, pp. 279-291.
  43. Roozegar, M. and Angeles, J., 2018, “A two-phase control algorithm for gear-shifting in a novel multi-speed transmission for electric vehicles,” Mechanical Systems and Signal Processing, Vol. 104, pp. 145-154.
  44. Setiawan, Y., Roozegar, M., Zou, T. and Angeles, J., 2018, “A mathematical model of multi-speed transmissions in electric vehicles in the presence of gear-shifting,” IEEE Transactions on Vehicular Technology, Vol. 67, No. 1, pp. 397-408.
  45. Karimi Eskandary, P. and Angeles, J., 2018, “The translating Π-joint: design and applications,” Mechanism and Machine Theory, Vol. 122, pp. 361-370.
  46. Li, W., and Angeles, J., 2018, “Full-mobility 3-CCC parallel-kinematics machines: Kinematics and isotropic design,” ASME Journal of Mechanism and Robotics, Vol. 10, No. 1, pp. 011011-01-011011-11.
  47. Karimi Eskandary, P. and Angeles, J., 2018, “The dynamics of a parallel Schönflies-motion generator,” Mechanism and Machine Theory, Vol. 119, pp. 119-129.
  48. Hewlett, J., Kovács, L., Callejo, A., Kry, P., Kövecses, J. and Angeles, J., 2017, “Adaptive semi-implicit integrator for articulated mechanical systems,” ASME J. Computational and Nonlinear Dynamics, Vol. 12, No. 5, 051003.
  49. Li, W. and Angeles, J., 2017, “A novel three-loop parallel robot with full mobility: kinematics, singularity, workspace, and dexterity analysis,,” ASME J. Mechanisms and Robotics, Vol. 9, No. 5, pp. 051003-051003-10.
  50. Roozegar, M., Setiawan, Y. and Angeles, J., 2017, “Design, modelling and estimation of a novel modular multi-speed transmission system for electric vehicles,” Mechatronics, Vol. 45, pp. 119-129.
  51. Roozegar, M. and Angeles, J., 2017, “The optimal gear-shifting for a multi-speed transmission system for electric vehicles,” Mechanism and Machine Theory, Vol. 116, pp. 1-13.
  52. Zou, T., Shaker, M., Angeles, J. and Morozov, A., 2017, “An innovative tooth root profile for spur gears and its effect on service life,” Meccanica, Vol. 52, pp. 1825-1841.
  53. Li, W., Angeles, J. and Valášek, M., 2017, “Contributions to the kinematics of pointing,” Mechanism and Machine Theory, Vol. 108, pp. 97-109.
  54. Pennestrì, E., Valentini, P.P., Figliolini, G. and Angeles, J., 2016, “Dual Cayley-Klein parameters and Möbius transform: theory and applications,” Mechanism and Machine Theory, Vol. 106, pp. 50-67.
  55. Figliolini, G., Rea, P. and Angeles, J., 2016, “The synthesis of the axodes of RCCC linkages, ” ASME Journal of Mechanisms and Robotics, Vol. 8, No. 2, DOI: 10.1115/1.4031950.
  56. Ghotbi, B., González, F., Kövecses, J. and Angeles, J., 2016, “Mobility evaluation of wheeled robots on soft terrain: effect of internal force distribution, ” Mechanism and Machine Theory, Vol. 100, pp. 259-282.
  57. Chaudhary, M., Angeles, J. and Morozov, A., 2016, “Design and kinematic analysis of a spherical cam-roller mechanism for an automotive differential, ” CSME Transactions, Vol. 40, pp. 243-252.
  58. Saha, D., Angeles, J. and Kövecses, J., 2016, “Design of a pitch-roll joystick based on a three-lobe spherical cam mechanism, ” CSME Transactions, Vol. 40, pp. 113-124.
  59. Rahimi Mousavi, M.S., Sauze, G., Morozov, A., Angeles, J., Boulet, B., 2016, “Mechatronics design of an X-by-wire prototype of an electric vehicle, ” CSME Transactions, Vol. 40, pp. 231-242.
  60. Léger, J. and Angeles, J., 2016, “Off-line programming of six-axis robots for optimum five-dimensional tasks, ” Mechanism and Machine Theory, Vol. 100, pp. 155-169.
  61. Figliolini, G., Stachel, H. and Angeles, J., 2016, “Base curves of involute cylindrical gears via Aronhold's first theorem, ” Proc. IMech Journal of Mechanical Engiineeriing Science, Vol. 230, No. 7-8, pp. 1233-1242.
  62. Figliolini, G., Stachel, H. and Angeles, J., 2015, “A spatial version of octoidal gears via the generalized Camus theorem, ” ASME Journal of Mechanisms and Robotics, DOI: 10.1115/1.4031950 to 051003-10, Vol. 8, pp. 021015-021015-13
  63. Bai, S. and Angeles, J., 2015, “Coupler curve synthesis of four-bar linkages via a novel formulation, ” Mechanism and Machine Theory, Vol. 94, pp. 177-187.
  64. Zou, T. and Angeles, J., 2015, “The decoupling of the Cartesian stiffness matrix in the design of microaccelerometers, ” Multibody System Dynamics, Vol. 34, No. 1, pp. 1-21, DOI: 10.1007/s11044-014-9408-9.
  65. Zhu, X. and Angeles, J., 2015, “A reparametrization of the rotation matrix in rigid-body dynamics, ” ASME J. Applied Mechanics, Vol. 82, pp. 051003-1--051003-9.
  66. Angeles, J., 2015, “The role of the rotation matrix in the teaching of planar kinematics, ” Mechanism and Machine Theory, Vol. 89, pp. 28-37.
  67. Azimi, A., Holz, D., Kövecses, J., Angeles, J. and Teichmann, M., 2015, “A multibody dynamics framework for simulation of rovers on soft terrain, ” ASME J. Computational and Nonlinear Dynamics, Vol. 10, May, pp. 031004-1--031004-12, DOI: 10.1115/1.4029406.
  68. Ghotbi, B., González, F., Kövecses, J. and Angeles, J., 2015, “A novel concept for analysis and performance evaluation of wheeled rovers, ” Mechanism and Machine Theory, Vol. 83, pp. 137-151.
  69. Figliolini, G., Stachel, H. and Angeles, J., 2014, “The role of the orthogonal helicoid in the generation of the tooth flanks of involute-gear pairs with skew axes, ” ASME J. Mechanisms and Robotics, DOI: 10.1115/1.4029287.
  70. Bai, S. and Angeles, J., 2014, “Synthesis of RCCC linkages to visit four given poses, ” ASME Journal of Mechanisms and Robotics, DOI: 10.1115/1.4028637.
  71. Javid, F., Pasini, D. and Angeles, J., 2014, “A new surgical barbed staple for minimally invasive surgery, ” ASME J. Medical Devices, Vol. 8, No. 3, pp. 030951-1--030951-2.
  72. Zargarbashi, S.H.H. and Angeles, J., 2014, “Identification of error sources in a five-axis machine tool using FFT analysis, ” The International Journal of Advanced Manufacturing Technology, DOI: 10.1007/s00170-014-6323-4.
  73. Zou, T. and Angeles, J., 2014, “Isotropic accelerometer strapdowns and related algorithms for rigid-body pose and twist estimation, ” ASME J. Applied Mechanics, Vol. 81, pp. 111001-1--111001-13, DOI: 10.1115/1.4028405.
  74. Harada, T. and Angeles, J., 2014, “Kinematics and singularity analysis of a CRRHHRRC parallel Schönflies motion generator, ” CSME Transactions, Vol. 38, No. 2, pp. 173-183.
  75. Taghvaeipour, A, Angeles, J. and Lessard, L., 2014, “Optimum structural design of a two-limb Schönflies motion generator, ” Mechanism and Machine Theory, Vol. 80, pp. 125-141.
  76. Taghvaeipour, A, Angeles, J. and Lessard, L., 2014, “Elastodynamics of a two-limb Schönflies motion generator, ” Proc. IMechE Part C, J. Mechanical Engineering Science, DOI: 10.1177/0954406214538781.
  77. Al-Widyan, K. and Angeles, J., 2014, “The synthesis of spherical motion generators in the presence of an incomplete set of attitudes, ” ASME J. Mechanisms and Robotics, Vol. 6, pp. 031008-1--031008-8.
  78. Zou, T. and Angeles, J., 2014, “Structural and instrumentation design of a microelectromechanical systems biaxial accelerometer, ” Proc. IMechE Part C, J. Mechanical Engineering Science, DOI: 10.1177/0954406213518745.
  79. Azimi, A., Kövecses, J. and Angeles, J., 2013, “Wheel-soil interaction model for rover simulation and analysis using elasto-plasticity theory, ” IEEE Transactions on Robotics, Vol. 29, No. 5, pp. 1271-1288.
  80. Chopra, V., Hajzargarbashi, S. and Angeles, J., 2013, “Parameter identification of the testbed of anovel gearless pitch-roll wrist, ” Mechanical Systems and Signal Processing, DOI: 10.1016/j.ymssp.2013.06.038.
  81. Figliolini, G., Stachel, H. and Angeles, J., 2013, “On Martin Disteli's spatial cycloidal gearing, ” Mechanism and Machine Theory, Vol. 60, pp. 73-89.
  82. Alizadeh, D., Angeles, J. and Nokleby, S., 2013, “Optimum design of a spherical quasi-homokinetic linkage for motion transmission between orthogonal axes, ” Mechanism and Machine Theory, Vol. 59, pp. 107-118.
  83. Taghvaeipour, A, Angeles, J. and Lessard, L., 2013, “Constraint-wrench analysis of robotic manipulators, ” Multibody system Dynamics, Vol. 29, No. 2, pp. 139-168.
  84. Taghvaeipour, A, Angeles, J. and Lessard, L., 2012, “On the Elastostatic Analysis of Mechanical Systems, ” Mechanism and Machine Theory, Vol. 58, pp. 202-216.
  85. Bai, S. and Angeles, J., 2012, “A robust solution of the spatial Burmester problem, ” ASME J. Mechanisms and Robotics, Vol. 4, No. 3, pp. 031003-1-031003-10.
  86. Figliolini, G., Stachel, H. and Angeles, J., 2012, “On the synthesis of spatial cycloidal gears, ” Meccanica, DOI 10.1007/s11012-012-9664-9.
  87. Zargarbashi, S.S.H., Khan, W.A. and Angeles, J., 2012, “The Jacobian condition number as a dexterity index in 6R machining robots, ” Robotics and Computer-Integrated Manufacturing, Vol. 28, pp. 694-699.
  88. Shen, J.J., Kalantari, M., Kövecses, J., Angeles, J. and Dargahi, J., 2012, “Viscoelastic modeling of the contact interaction between a tactile sensor and an atrial tissue, ” IEEE Transactions on Biomedical Engineering, Vol. 59, No. 6, pp. 1727-1738.
  89. Javid, F., Angeles, J., Pasini, D. and Cecere, R., 2012, “Shape optimization of a self-deployable anchor designed for percutaneous mitral valve repair, ” ASME J. Medical Devices, Vol. 6, No. 1, pp. 011003-1-011003-7.
  90. Zargarbashi, S.S.H., Khan, W.A. and Angeles, J., 2012, “Posture optimization in robot-assisted machining operations, ” Mechanism and Machine Theory, Vol. 51, pp. 74-86.
  91. Alizadeh, D., Ma, X.Q. and Angeles, J., 2012, “On the reduction of the normality conditions in equality-constrained optimization problems in mechanics, ” Meccanica, Vol. 47, pp. 755-768.
  92. Azimi, A., Hirschkorn, M., Ghotbi, B., Kövecses, J., Angeles, J., Radziszewski, P., Teichmann, M., Courchesne, M., Gonthier, Y., 2011, “Terrain modelling in simulation-based performance evaluation of rovers, ” Canadian Aeronautics and Space Journal, Vol. 57, No. 1, pp. 24-33.
  93. Figliolini G. and Angeles J., 2011, “Synthesis of the Pitch Cones of N-Lobed Elliptical Bevel Gears, ” ASME J. Mechanical Design, vol. 133, No. 3, pp. 031002-1-031002-8.
  94. Khan, W.A. and Angeles, J., 2011, “A novel paradigm for the qualitative synthesis of simple kinematic chains based on complexity measures, ” ASME Journal of Mechanisms and Robotics, Vol. 3, No. 3, pp. 031010-1-031010-11.
  95. Gracia, L. and Angeles, J., 2011, “Robustness to algorithmic singularities and sensitivity in computational kinematics, ” Proc. IMechE, Part C, J. Mechanical Engineering Science, Vol. 25, No. 4, pp. 987-999.
  96. Al-Widyan, K., Ma, X.Q. and Angeles, J., 2011, “The robust design of parallel spherical robots,” Mechanism and Machine Theory Vol. 46, pp. 335-343.
  97. Angeles, J., 2010, “On the nature of the Cartesian stiffness matrix, ” Revista de la Sociedad Mexicana de Ingeniería Mecánica, Vol. 3, No. 5, pp. 163-170. Also see its Corrigenda, both available at http://revistasomim.net/numeros_35.html.
  98. Desrochers, S., Pasini, D. and Angeles, J., 2010, “Optimum design of a compliant uniaxial accelerometer,”ASME J. Mechanical Design,Vol. 132, No. 4, pp. 041011-1-041011-8.
  99. Ossino, A., Barnett, E., Angeles, J., Pasini, D. and Sijpkes, P., 2010, “Path planning for robot-assisted rapid prototyping of ice structures,” CSME Transactions, Vol. 33, No. 4, pp. 689-700.
  100. Cammarata, A., Angeles, J. and Sinatra, R., 2010, “Kinetostatic and inertial conditioning of the McGill Schönflies-motion generator,” Advances in Mechanical Engineering, Vol. 2010, Article ID 186203, DOI: 10.1155/2010/186203.
  101. Caro, S., Khan, W.A., Pasini, D. and Angeles, J., 2010, “The rule-based conceptual design of the architecture of serial Schönflies-motion generators,” Mechanism and Machine Theory, Vol. 45(2), pp. 251-260.
  102. Bai, S., Hansen, M.R. and Angeles, J., 2009, “A robust forward-displacement analysis of spherical parallel robots,” Mechanism and Machine Theory, Vol. 44, pp. 2204-2216.
  103. Bai, S. and Angeles, J., 2009, “The design of spherical multilobe-cam mechanisms,” Proc. IMechE, Part C: J. Mechanical Engineering Science, Vol. 223(C2), pp. 473-482.
  104. Cardou, P. and Angeles, J., 2009, “Linear estimation of the rigid-body acceleration field from point-acceleration measurements,” ASME J. Dynamic systems, Measurement, and Control, Vol. 131, pp. 041013-1-041013-10.
  105. Oryschuk, P., Salerno, A., Al-Husseini, A. M. and Angeles, J., 2009, “Experimental validation of an underactuated two-wheeled mobile robot,” IEEE/ASME Transactions on Mechatronics, Vol. 14, No. 2, pp. 252-257.
  106. Altuzarra, O., Salgado, O., Hernandez, A. and Angeles, J., 2009, “Multiobjective optimum design of a symmetric parallel Schönflies-motion generator,” ASME Journal of Mechanical Design, Vol. 131, No. 3, pp. 031002-1-031002-11.
  107. Cammarata, A., Angeles, J., and Sinatra, R., 2009, “The dynamics of parallel Schönflies motion generators: the case of a two-limb system,” Proc. IMechE Vol. 222 Part I: J. Systems and Control Engineering, Vol. 223, No. 11, pp. 29-52.
  108. Gauthier, J.-F., Angeles, J., Nokleby, S. and Morozov, A., 2009, “The kinetostatic conditionning of two-limb Schönflies motion generators,” ASME Journal of Mechanisms and Robotics, Vol. 1, No. 1, pp. 011010-1-011010-12.
  109. Cardou, P., Pasini, D. and Angeles, J., 2008, “Lumped elastodynamic model for MEMS: formulation and validation,” IEEE/ASME J. Microelectromechanical Systems, Vol. 17, No. 4, pp. 948-961.
  110. Modarres Najafabadi, S.A., Kövecses, J. and Angeles, J., 2008, “Generalization of the energetic coefficient of restitution for contacts in multibody systems,” ASME J. of Computational and Nonlinear Dynamics, Vol. 3, pp. 041008-1-041008-14.
  111. Modarres Najafabadi, S.A., Kövecses, J. and Angeles, J., 2008, “Impacts in multibody systems: modeling and experiments,” Multibody System Dynamics, Vol. 20, pp. 163-176.
  112. Chen, C. and Angeles, J., 2008, “A novel family of linkages for advanced motion synthesis,” Mechanism and Machine Theory, Vol. 43, pp. 882-890.
  113. Cardou, P. and Angeles, J., 2008, “Estimating the angular velocity of a rigid body moving in the plane from tangential and centripetal acceleration measurements,” Multibody System Dynamics, Vol. 19, No. 4, pp. 383-406.
  114. Teng, C. P., Bai, S. and Angeles, J., 2008, “Shape synthesis in mechanical design,” Acta Polytechnica, Vol. 47, No. 6, pp. 56-62.
  115. Cardou, P. and Angeles, J., 2008, “Angular velocity estimation from the angular acceleration matrix,” ASME J. of Applied Mechanics, Vol. 75, pp. 021003-1--021003-8.
  116. Bai, S. P. and Angeles, J., 2008, “A unified input-output analysis of four-bar linkages,” Mechanism and Machine Theory, Vol. 43, pp. 240-251.
  117. Chen, C., Bai, S. P. and Angeles, J., 2008, “A comprehensive solution of the classic Burmester problem,” CSME Transactions, Vol. 32, No. 2, pp. 137-154.
  118. Chen, C., Bai, S. P. and Angeles, J., 2008, “The synthesis of dyads with one prismatic joint,” ASME J. of Mechanical Design, Vol. 130, pp. 034501-1--034501-6.
  119. Modarres Najafabadi, S.A., Kövecses, J. and Angeles, J., 2007, “Energy analysis and decoupling in three-dimensional impacts of multibody systems,” ASME J. of Applied Mechanics, Vol. 74, pp. 845-851.
  120. Kövecses, J. and Angeles, J., 2007, “The stiffness matrix in elastically articulated rigid-body systems,” Multibody System Dynamics, Vol. 18, pp. 169-184.
  121. Larochelle, P., Murray, A. and Angeles, J., 2007, “A distance metric for finite sets of rigid-body displacements via the polar decomposition,” ASME J. of Mechanical Design, Vol. 129, pp. 883-886.
  122. Chen, C., Zhang, X. and Angeles, J., 2007, “Kinematic and geometric analysis of a pure-rolling epicyclic train,” Journal of Mechanical Design, Vol. 129, No. 8, pp. 852-857.
  123. Nasrallah, D., Angeles, J. and Michalska, H., 2007, “Controllability and posture control of a wheeled pendulum moving on an inclined plane,” IEEE Transactions on Robotics, Vol. 23, No. 3, pp. 564-577.
  124. Figliolini, G. Stachel, H. and Angeles, J., 2007, “A new look at the Ball-Disteli diagram and its relevance to spatial gearing,” Mechanism and Machine Theory, Vol. 42, pp. 1362--1375.
  125. Chen, C. and Angeles, J., 2007, “Generalized transmission index and transmission quality for spatial linkages,” Mechanism and Machine Theory, Vol. 42, pp. 1225-1237.
  126. Theingi, Chen, I.-M., Angeles, J. and Li, C., 2007, “Management of parallel-manipulator singularities using joint-coupling,” Advanced Robotics, Vol. 21, No. 5-6, pp. 583-600.
  127. Salerno, A., and Angeles, J., 2007, “A new family of two-wheeled mobile robots: modeling and controllability,” IEEE Transactions on Robotics, Vol. 23, No. 1, pp.169-173.
  128. Chen, C., and Angeles, J., 2007, “Optimum kinematic design of drives for wheeled mobile robots based on cam-roller pairs,” Journal of Mechanical Design, Vol. 129, pp. 7-16.
  129. Chen, C., and Angeles, J., 2007, “Virtual-power flow and mechanical gear-mesh power losses of epicyclic gear trains,” Journal of Mechanical Design, Vol. 129, pp. 107-113.
  130. Morozov, A. and Angeles, J., 2007, “The mechanical design of a novel Schönflies-motion generator,” Robotics and Computer-Integrated Manufacturing, Vol. 23, pp. 82-93.
  131. Chen, C. and Angeles, J., 2006, “Undercutting on cam profiles,” Transactions of the CSME, Vol. 30, No. 3, pp. 443-458.
  132. Angeles, J., Caro, S., Khan, W., Morozov, A., 2006, “The kinetostatic design of an innovative Schönflies-motion generator,” in Proc. Inst. Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, Vol. 220, No. 7, pp. 935-943.
  133. Chablat, D. and Angeles, J., 2006, “Stratégies de conception pour optimiser la transmission Slide-o-cam,” Mécanique et Industries, Vol. 7, pp. 301-309.
  134. Figliolini, G., Rea, P., and Angeles, J., 2006, “The pure-rolling cam-equivalent of the Geneva mechanism,” Mechanism and Machine Theory, Vol. 41, pp. 1320-1335.
  135. Angeles, J., 2006, “Is there a characteristic length of a rigid-body displacement?,” Mechanism and Machine Theory, Vol. 41, pp. 884-896.
  136. Chablat, D. and Angeles, J., 2006, “The design of a novel prismatic drive for a three-DOF parallel-kinematics machine,” ASME J. Mechanical Design, Vol. 128, No. 4, pp. 710-718.
  137. Figliolini, G. and Angeles, J., 2006, “The synthesis of the pitch surfaces of internal and external skew-gears and their racks,” ASME J. Mechanical Design, Vol. 128, No. 4, pp. 794-802.
  138. Hernandez, S., Bai, S.P. and Angeles J., 2006, “The design of a chain of spherical Stephenson mechanisms for a gearless robotic pitch-roll wrist,” ASME J. Mechanical Design, Vol. 128,  pp. 422-429.
  139. Zou, P. and Angeles, J., 2006, “Kinematics of a 4-DOF bipod parallel grinder,” Key Engineering  Materials, Vols. 304 & 305, pp. 431-435.
  140. Khan, W.A., and Angeles, J., 2006, “The kinetostatic optimization of robotic manipulators: the inverse and the direct problems,” ASME J. Mechanical Design, Vol. 128,  pp. 168-178.
  141. Zhang, D.-G. and Angeles, J., 2005, “Impact dynamics of flexible-joint robots,” Computers and Structures, vol. 38, No. 1, pp. 25-33.
  142. Chen, C. and Angeles, J., 2005, “Force-and-motion-transmission evaluation in spatial mechanisms,” Trans. Can. Soc. Mech.Eng., vol. 29, Special Edition, pp. 527-539.
  143. Khan, W.A., Krovi, V., Saha, S.K. and Angeles, J., 2005, “Recursive kinematics and inverse dynamics for a planar 3R parallel manipulator,” ASME J. Dyn. Systs., Meas., and Control, vol. 127, No. 4, pp. 529-536.
  144. Khan, W.A., Krovi, V., Saha, S.K. and Angeles, J., 2005, “Modular and recursive kinematics and dynamics for parallel manipulators,” Multibody System Dynamics, vol. 14, pp. 419-455.
  145. Parsa, K., Angeles, J. and Misra, A.K., 2005, “Control of macro-micro manipulators revisited,” ASME J. Dynamic Systems, Measurement, and Control, Vol. 27 (4), pp. 688-699.
  146. Figliolini, G. and Angeles, J., 2005, “Synthesis of the base curves for n-lobes elliptical gears,” ASME J. Mechanical Design, Vol. 127, No. 5, pp. 997-1005.
  147. Figliolini, G. and Angeles, J., 2005, “Algorithms for involute and Octoidal bevel-gear generation,” ASME J. Mechanical Design, Vol. 137, No. 5, pp. 664-672.
  148. Parsa, K., Angeles, J. and Misra, A.K., 2005, “Estimation of the flexural states of a macro-micro manipulator using point-acceleration data,” IEEE Transactions on Robotics, Vol. 21, No. 4, pp. 565-573.
  149. Al-Widyan, K. and Angeles, J.,  2005,  “A model-based formulation of robust design,”   ASME J. Mechanical Design, Vol. 127, pp.388-396.
  150. Teng, C.P. and Angeles, J., 2005, “An optimality criterion for the structural optimization of machine elements,”  ASME J. Mechanical Design, Vol. 127,  pp. 415–423.
  151. Angeles, J., 2005, “An innovative drive for wheeled mobile robots,”  IEEE/ASME Transactions on Mechatronics, Vol. 10, No. 1, pp. 43-49.
  152. Parsa, K., Angeles, J., and Misra, A.K., 2004, “Rigid-body pose and twist estimation using an accelerometer array,” Archive of Applied Mechanics, Vol. 74, No. 3-4, pp. 223-236.
  153. Montagnier, P., Spiteri, R. and Angeles, J., 2004, “The control of linear time-periodic systems using Floquet-Lyapunov theory,” Int. J. Control, Vol. 77, No. 5, pp.472-490.
  154. Angeles, J.,   2004, “The qualitative synthesis  of parallel manipulators,” ASME J. Mechanical Design, Vol. 126, No. 4, pp. 617-624.
  155. Zhang W. and Angeles, J., 2004, “A parametric study of planar cam-roller speed reducers,”  Transactions of the Canadian Society for Mechanical Engineering, Vol. 28, No. 2A, pp. 263-275.
  156. Ostrovskaya, S. and Angeles, J., 2004, “The kinematics of mobile robots with orientable single and dual wheels rolling on a plane,”  Transactions of the Canadian Society for Mechanical Engineering, Vol. 28, No. 2A, pp. 251-262.
  157. Chen C. and Angeles, J., 2004, “The conceptual design of epicyclic cam trains,”  Transactions of the Canadian Society for Mechanical Engineering, Vol. 28, No. 2A, pp. 125-138.
  158. Asokan, T., Seet, G. and Angeles, J., 2003,  “The optimum dimensioning of an underwater manipulator for weld inspection,” Proc. IMechE Journal of Engineering for the Maritime Environment, Vol. 217, pp. 177-184.
  159. Figliolini, G. and Angeles, J., 2003, “The synthesis of elliptical gears generated by shaper-cutters,” ASME J. Mechanical Design, Vol. 125, pp. 793-801.
  160. Angeles, J., Yang, G. and Chen, I-M., 2003, “Singularity analysis of three-legged, six-dof platform manipulators with URS legs,” IEEE/ASME Transactions on Mechatronics, Vol. 8, No. 4,  pp. 469–475.
  161. Al-Widyan, K., Angeles, J.  and Ostrovskaya, S., 2003, “A robust simulation algorithm for conservative linear mechanical systems,”  International Journal for Multiscale Computational Engineering, Vol. 1, pp. 289–309.
  162. Angeles, J., 2003, “The design of a three-axis positioning manipulator for a given reach,” Ingeniería Mecánica, Vol. 1, No. 2, pp. 35–41.
  163. Chablat, D. and Angeles, J., 2003, “The computation of all 4R serial spherical wrists with an isotropic architecture,” ASME J. Mechanical Design, Vol. 125, No. 2, pp. 275–280.
  164. Sinatra, R. and Angeles, J., 2003, “A novel approach to the teaching of planar mechanism dynamics. A case study,” The International Journal of Mechanical Engineering Education, Vol. 31, No. 3, pp. 201-214. 
  165. González-Palacios, M. and Angeles, J., 2003,  “The design of a novel pure-rolling transmission to convert rotational into translational motion,” ASME J. Mechanical Design, Vol. 125, pp. 205-207
  166. Figliolini, G. and Angeles, J., 2002,  “Synthesis of conjugate Geneva mechanisms with curved slots,” Mechanism and Machine Theory, Vol.37, No. 10, pp. 1043-1061
  167. Angeles, J. and Ostrovskaya, S., 2002, “The proportional-damping matrix of arbitrarily-damped linear mechanical systems,” ASME J. of Applied Mechanics, Vol. 69, pp. 649--656.
  168. Chablat, D. and Angeles, J., 2002, “On the kinetostatic optimization of revolute-coupled planar manipulators,” Mechanism and Machine Theory, Vol. 37, No. 4, pp. 351-374.
  169. Teng, C. P. and Angeles, J., 2001, “A sequential-quadratic-programming algorithm using orthogonal decomposition with Gerschgorin stabilization,” in ASME J. of Mechanical Design, Vol. 123, pp. 501-509.
  170. Cervantes-Sánchez, J. J., Hernandez-Rodriguez, J. C. and Angeles, J., 2001, “On the kinematic design of the 5R planar, symmetric manipulator,” Mechanism and Machine Theory, Vol. 36, No. 12, pp. 1301-1313.
  171. Yang, G., Chen, I-M., Lin, W. and Angeles, J., 2001, “Singularity analysis of three-legged parallel robots based on passive-joint velocities,” IEEE Transactions on Robotics and Automation, Vol. 17, No. 4, pp. 413-422.
  172. Navarro, O., Wu, C.-J. and Angeles, J., 2001, “The size-minimization of planar cam mechanisms,” Mechanism and Machine Theory, Vol. 36. pp. 371-386.
  173. Montagnier, P., Spiteri, R. and Angeles, J., 2001, “Pitfalls of a least-squares-equivalent controller for linear, time-periodic systems,” International Journal of Control, Vol. 74, No. 2, pp. 199-204.
  174. Lange, C., Ranjbaran, F., Angeles, J. and Goritschnig, 2001, “Dynamics of the swashplate mechanism of a VTOL unmanned aerial vehicule,” Multibody System Dynamics, Vol. 5, No. 2, pp. 105-131.
  175. Wu, C.-J and Angeles, J., 2001, “The optimum synthesis of an elastic torque-compensatimg cam mechanism,” Mechanism and Machine Theory, Vol. 36, pp. 245-249.
  176. Angeles, J., Soucy, G. and Ferrie, F., 2000, “The online solution of the hand-eye problem,”  IEEE Transactions on Robotics and Automation, Vol.  16, No. 6, pp. 720-731.
  177. Baron, L. and Angeles, J., 2000, “The kinematic decoupling of parallel manipulators using joint-sensor data,” IEEE  Transactions on Robotics and Automation., Vol.  16, No. 6, pp. 644-651.
  178. Baron, L. and Angeles, J., 2000, “The direct kinematics of parallel manipulators under joint-sensor redundancy,” IEEE Transactions on Robotics and Automation, Vol. 16, No. 1, pp. 12-19.
  179. Yao, J. and Angeles, J., 2000, “The kinematic synthesis of steering mechanisms,” Transactions of the CSME, Vol. 24, No. 3 & 4, pp. 453-475.
  180. Yao, J. and Angeles, J., 2000, “Computation of all optimum dyads in the approximate synthesis of planar linkages for rigid-body guidance,” Mechanism and Machine Theory, Vol. 35, No. 8, pp. 1065-1078.
  181. Ostrovskaya, S., Angeles, J. and Spiteri, R., 2000, “Dynamics of a mobile robot with three ball-wheels,” The International Journal of Robotics Research, Vol. 19, No. 4, pp. 383-393.
  182. González-Palacios, M. and Angeles, J., 1999, “The design of a novel mechanical transmission for speed reduction,” ASME J.  of Mechanical Design, Vol. 121, no. 4, pp. 538-543
  183. Angeles, J., Etemadi Zanganeh, K. and Ostrovskaya, S., 1999, “The analysis of arbitrarily-damped linear mechanical systems,” Archive of Applied Mechanics, Vol. 69, No. 8, pp. 529-541.
  184. Lange, C., Ranjbaran, F., Angeles, J. and Goritschnig, G., 1999, “The kinematics of the swashplate mechanism of a VTOL unmanned aerial vehicle,” Multibody System Dynamics, Vol. 3, No. 4, pp. 333-365.
  185. Bulca, F., Angeles, J. and Zsombor-Murray, P. J., 1999, “On the workspace determination of spherical serial and platform mechanisms,” Mechanism and Machine Theory, Vol. 34, pp. 497-512.
  186. Angeles, J., 1999, “The angular-acceleration tensor of rigid-body kinematics and its properties,” Archive of Applied Mechanics, Vol. 69, No. 3, pp. 204-214.
  187. Cho, K. S., Hori N. and Angeles, J., 1998, “Feedback control of planar linkages using a linearizing filter: theory and experiments,” Multibody System Dynamics, Vol. 2, No. 3, pp. 253-276.
  188. Cho, K. S. Hori, N. and Angeles, J., 1998, “A robust model for the discretization of flexible links based on cubic splines,” Computer Modeling and Simulation in Engineering, Vol. 3, No. 4, pp. 235-243.
  189. Etemadi Zanganeh, K. and Angeles, J., 1998, “A formalism for the analysis and design of modular kinematic structures,” The International J. of Robotics Research, Vol. 17, No. 7, pp. 720-730.
  190. Ostrovskaya, S. and Angeles, J., 1998, “Nonholonomic systems revisited within the framework of analytical mechanics,” Applied Mechanics Reviews, Vol. 51, No. 7, pp. 415-433.
  191. Etemadi Zanganeh, K., Sinatra, R. and Angeles, J., 1997, “Kinematics and dynamics of a six-degree-of-freedom parallel manipulator with revolute legs,” Robotica, Vol. 15, pp. 385-394.
  192. Etemadi Zanganeh, K. and Angeles, J., 1997, “Kinematic isotropy and the optimum design of parallel manipulators,” The International J. of Robotics Research, Vol. 16, No 2, pp. 185-197.
  193. Fattah, A., Angeles, J. and Misra, K., 1997, “Dynamics of two cooperating flexible-link manipulators-planar case,” Transactions of the CSME, Vol. 21, No 1, pp. 1-17.
  194. Khader, K., Angeles, J., Moustafa, M., El-Shakery, S. and Abou-Elnasr, R. 1996, “The synthesis of a multi-step cam mechanism to drive a shaking belt conveyor,” Mechanism and Machine Theory, Vol. 31, No 7, pp. 913-924.
  195. Mohammadi Daniali, H. R., Zsombor-Murray, P. J. and Angeles, J., 1996, “Direct kinematics of double-triangular parallel manipulators,” Mathematica Pannonica, Vol. 7, No. 1, pp. 79-96.
  196. Etemadi Zanganeh, K. and Angeles, J., 1995, “Instantaneous kinematics of general hybrid parallel manipulators,” ASME J.  of Mechanical Design, Vol. 117, No. 4, pp. 581-588.
  197. Mohammadi Daniali, H. R. Zsombor-Murray, P. J. and Angeles, J., 1995, “The kinematics of spatial double-triangular parallel manipulators,” ASME J. of Mechanical Design, Vol. 117, No. 4, pp. 658-661.
  198. Etemadi Zanganeh, K. and Angeles, J., 1995, “Real-time direct kinematics of general six-degree-of-freedom parallel manipulators with minimum-sensor data,” Journal of Robotic Systems, Vol. 12, No. 12, pp. 833-844.
  199. Mohammadi Daniali, H. R., Zsombor-Murray, P. J. and Angeles, J., 1995, “The isotropic design of two general classes of planar parallel manipulators,” Journal of Robotic Systems, Vol. 12, No. 12, pp. 795-805.
  200. Saha, S. K., Angeles, J. and Darcovich, J., 1995, “The design of kinematically isotropic rolling robots with omnidirectional wheels,” Mechanism and Machine Theory, Vol. 30, No. 8, pp. 1127-1137.
  201. Ranjbaran, F., Angeles, J., González-Palacios, M. A. and Patel, R. V., 1995, “The mechanical design of a seven-axes manipulator with kinematic isotropy,” Journal of Intelligent & Robotic Systems, Vol. 14, No. 1, pp. 21-41.
  202. Mohammadi Daniali,  H. R.,  Zsombor-Murray, P. J. and Angeles, J., 1995, “Singularity analysis of planar parallel manipulators,” Mechanism and Machine Theory, Vol. 30, No. 5, pp. 665-678.
  203. Fattah, A., Misra K. A. and Angeles, J., 1995, “Modelling and simulation of planar mechanical systems with flexible links and multiple kinematic loops,” Machine Vibration, Vol. 3, No. 3, pp. 130-137.
  204. Liu, Z. and Angeles, J., 1994, “Optimization of planar, spherical and spatial function generators using input-output curve planning,” ASME J. of Mechanical Design, Vol. 116, No. 3, pp. 915-919.
  205. Al-Daccak, M., Angeles, J. and González-Palacios, M. A., 1994, “The modeling of bevel gears using the exact spherical involute,” ASME J. of Mechanical Design, Vol. 116, No. 2, pp. 364-368.
  206. González-Palacios, M. A. and Angeles, J., 1994, “The generation of contact surfaces of indexing cam mechanisms. A unified approach,” ASME J. of Mechanical Design, Vol. 116, No. 2, pp. 369-374.
  207. Tandirci, M., Angeles, J. and Darcovich, J., 1994, “On rotation representations in computational robot kinematics,” Journal of Intelligent and Robotic Systems, Vol. 9, No. 1, pp. 5-23.
  208. Angeles, J., López-Cajún, C. and Saha, S. K., 1994, “The design of cam mechanisms with translating flat-face followers under curvature constraints,” ASME J. of Mechanical Design, Vol. 116, No. 1, pp. 306-310.
  209. Angeles, J., Saha, S. K., González-Palacios, M. A. and López-Cajún, C., 1994, “The design of cam mechanisms with oscillating flat-face followers under curvature constraints,” ASME J. of Mechanical Design, Vol. 116, No. 1, pp. 311-314.
  210. González-Palacios, M. A. and Angeles, J., 1994, “Synthesis of contact surfaces of spherical cam-oscillating roller follower mechanisms: A general approach,” ASME J. of Mechanical Design, Vol. 116, No. 1, pp. 315-319.
  211. Williams, O., Angeles, J. and Bulca, F., 1993, “Design philosophy of an isotropic six-axis serial manipulator,” Robotics and Computer-Integrated Manufacturing, Vol. 10, No. 4. pp. 275-290.
  212. Al-Daccak, M. and Angeles, J., 1993, “The calculation of the volumetric properties of sweep-generated solids via line integration,” ASME J. of Mechanical Design, Vol. 115, No. 1, pp. 110-118.
  213. Liu, Z. and Angeles, J., 1992, “The constrained least-square optimization of spherical four-bar linkages for rigid-body guidance,” Trans. Canadian Society of Mechanical Engineering, Vol. 16, No. 1, pp. 47-60.
  214. Angeles, J. and López-Cajún, C. S., 1992, “Kinematic isotropy and the conditioning index of serial robotic manipulators,” The International J. Robotics Research, Vol. 11, No. 6, pp. 560-571.
  215. Darcovich, J., Angeles, J. and Misra, A. K., 1992, “Dynamics of single-loop mechanisms with flexible links,” Machine Vibration, Vol. 1, No. 3. pp. 155-163.
  216. Angeles, J., Akhras, R. and Liu, Z., 1992, “The synthesis of smooth trajectories for pick-and-place operations of spherical wrists,” Mechanism and Machine Theory, Vol. 28, No. 2, pp. 261-269.
  217. Liu, Z. and Angeles, J., 1992, “Least-square optimization of planar and spherical four-bar function generators under mobility constraints,” ASME J. of Mechanical Design, Vol. 114, pp. 569-573.
  218. Liu, Z. and Angeles, J., 1992, “The properties of constant-branch four-bar linkages and their applications,” ASME J. of Mechanical Design, Vol. 114, pp. 574-579.
  219. Angeles, J., 1992, “The design of isotropic manipulator architectures in the presence of redundancies,” The International J. of Robotics Research, Vol. 11, No. 3, pp. 196-200.
  220. Ma, O. and Angeles, J., 1992, “Architecture singularities of parallel manipulators,” The International J. Robotics & Automation, Vol. 7, No. 1, pp. 23-29.
  221. Dancose, S., Angeles, J. and Hori N., 1992, “Optimal control and state estimation of a flexible beam modelled by cubic splines,” Machine Vibration, Vol. 1, pp. 86-93.
  222. Nahon, M. and Angeles, J., 1992, “Real-time force optimization in parallel kinematic chains under inequality constraints,” IEEE Trans. Robotics & Automation, Vol. 8, No. 4, pp. 439-450.
  223. Angeles, J. and Liu, Z., 1992, “The constrained least-square optimization of spherical four-bar path generators,” ASME J. of Mechanical Design, Vol. 114, No. 3, pp. 394-405.
  224. Nahon, M. and Angeles, J., 1992, “Minimization of power losses in cooperating manipulators,” ASME J. of Dynamic Systems, Measurement, and Control, Vol. 114, No. 2, pp. 213-219.
  225. Angeles, J., 1992, “On the application of Mohr's circle to 2-dof vibration analysis. A tutorial.,” Journal of Sound and Vibration, Vol. 154, No. 3, pp. 556-567.
  226. Gosselin, C. and Angeles, J., 1991, “A global performance index for the kinematic optimization of robotic manipulators,” ASME J. of Mechanical Design, Vol. 113, No. 3, pp. 220-226.
  227. Cyril, X., Angeles, J. and Misra, A. K. 1991, “Dynamics of flexible multibody mechanical systems,” Transactions of the Canadian Society of Mechanical Engineering., Vol. 15, No. 3, pp. 235-249.
  228. Nahon, M. and Angeles, J., 1991, “Co-operative control of multiple space manipulators,” Canadian Aeronautics and Space Journal, Vol. 37, No. 2, pp. 78-87.
  229. Nahon, M. and Angeles, J. , 1991, “Optimization of dynamic forces in the design of mechanical hands,” ASME J. of Mechanical Design, Vol. 113, pp. 167-173.
  230. Saha, S. K. and Angeles, J., 1991, “The mathematics of motion for computer animation: A case study,” Mathematical and Computer Modeling, Vol. 15, No. 10, pp. 61-77.
  231. Saha, S. K. and Angeles, J., 1991, “Dynamics of nonholonomic mechanical systems using a natural orthogonal complement,” ASME J. of Applied Mechanics, Vol. 58, No. 1, pp. 238-243.
  232. Angeles, J. and Ma, O., 1991, “Performance evaluation of four-bar linkages for rigid-body guidance based on generalized coupler curves,” ASME J. of Mechanical Design, Vol. 113, No. 1, pp. 17-24.
  233. Angeles, J., 1990, “Die theoretischen Grundlagen zur Behandlung algebraischer Singularitäten der kinematischen Koordinatenumkehr in der Robotertechnik,” Mechanism and Machine Theory, Vol. 26, No. 3, pp. 315-322.
  234. Gosselin, C. and Angeles, J., 1990, “Kinematic inversion of parallel manipulators in the presence of incompletely specified tasks,” ASME J. of Mechanical Design, Vol. 112, No. 4, pp. 494-500.
  235. Gosselin, C. and Angeles, J., 1990, “Singularity analysis of closed-loop kinematic chains,” IEEE Transactions on Robotics & Automation, Vol. 6, No. 3, pp. 281-290.
  236. Angeles, J., Anderson, K. and Gosselin, C., 1990, “Constrained design optimization using orthogonal decomposition,” ASME J. of Mechanisms, Transmissions, and Automation in Design, Vol. 112, No. 2, pp. 255-256.
  237. Angeles, J., Chaoming, Z., Duarte, R. and Ning, H., 1990, “The evaluation of moments of 3-D solids of revolution using spline approximations of the boundary,” ASME J. of Mechanical Design, Vol. 112, No. 1, pp. 108-110.
  238. Akhras, R. and Angeles, J., 1990, “Unconstrained nonlinear least-square optimization of planar linkages for rigid-body guidance,” Mechanism and Machine Theory, Vol. 25, No. 1, pp. 97-118.
  239. Cyril, X., Angeles, J. and Misra, A. K., 1990, “Efficient simulation algorithm for robotic manipulator dynamics,” Transactions of the Canadian Society of Mechanical Engineering, Vol. 14, No. 4, pp. 137-142.
  240. Angeles, J. and Lee, S., 1989, “The modelling of holonomic mechanical systems using a natural orthogonal complement,” Transactions of the Canadian Society of Mechanical Engineering, Vol. 13, No. 4, pp. 81-89.
  241. Cyril, X., Angeles, J. and Misra, A. K., 1989, “Efficient inverse dynamics of general n-axis robotic manipulators,” Transactions of the Canadian Society of Mechanical Engineering, Vol. 13, No. 4, pp. 91-95.
  242. Gosselin, C. and Angeles, J., 1989, “Optimization of planar and spherical function generators as minimum-defect linkages,” Mechanism and Machine Theory, Vol. 24, No. 4, pp. 293-307.
  243. Anderson, K. and Angeles, J., 1989, “The kinematic inversion of robot manipulators in the presence of redundancies,” The International J. of Robotics Research, Vol. 8, No. 6, pp. 80-97.
  244. Gosselin, C. and Angeles, J., 1989, “The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator,” ASME J. of Mechanisms, Transmissions, and Automation in Design, Vol. 111, No. 2, pp. 202-207.
  245. Guo, L. and Angeles, J., 1989, “Controller estimation for the adaptive control of robotic manipulators,” IEEE Transactions on Robotics & Automation, Vol. 5, No. 3, pp. 315-323.
  246. Angeles, J., Ma, O. and Rojas, A., 1989, “An algorithm for the inverse dynamics of n-axis general manipulators using Kane's equations,” Computers and Mathematics with Applications, Vol. 17, No. 12, pp. 1545-1561.
  247. Angeles, J. and Thomson, M., 1989, “Profile determination of a drop of liquid under surface tension, gravity, and centrifugal forces,” Computational Mechanics, Vol. 4, No. 5, pp. 329-344.
  248. Angeles, J., Alivizatos, A. and Akhras, R., 1988, “An unconstrained nonlinear least-square method of optimization of RRRR planar path generators,” Mechanism and Machine Theory, Vol. 23, No. 5, pp. 343-353.
  249. Angeles, J. and Gosselin, C., 1988, “Détermination du degré de liberté des chaînes cinématiques,” Transactions of the Canadian Society of Mechanical Engineering, Vol. 12, No. 4, pp. 219-226.
  250. Zung, E. W. W. and Angeles, J., 1988, “Simulation of finite-dimensional linear dynamical systems using zero-order holds and numerical stabilization methods,” Computers & Mathematics with Applications, Vol. 16, No. 4, pp. 307-320.
  251. Angeles, J., Anderson, K., Cyril, X. and Chen, B., 1988, “The kinematic inversion of robotic manipulators in the presence of singularities,” ASME J. of Dynamic Systems, Measurement, and Control, Vol. 110, No. 3, pp. 246-254.
  252. Angeles, J. and Ma, O., 1988, “Dynamic simulation of n-axis serial robotic manipulators,” The International J. Robotics Research, Vol. 7, No. 5, pp. 32-47.
  253. Angeles, J. and Ma, O., 1988, “Performance evaluation of path-generating planar, spherical and spatial four-bar linkages,” Mechanism and Machine Theory, Vol. 23, No. 4, pp. 257-268.
  254. Angeles, J., Rojas, A. and López-Cajún, C., 1988, “Trajectory planning in continuous-path applications,” IEEE J. Robotics & Automation, Vol. 4, No. 4, pp. 380-385.
  255. Gosselin, C. and Angeles, J., 1988, “Mobility analysis of planar and spherical linkages,” ASME Computers in Mechanical Engineering, Vol. 7, No. 1, pp. 56-60.
  256. Angeles, J. and Lee, S., 1988, “The formulation of dynamical equations of holonomic mechanical systems using a natural orthogonal complement,” ASME J. of Applied Mechanics, Vol. 55, No. 1, pp. 243-244.
  257. Angeles, J., Alivizatos, A. and Zsombor-Murray, P. J., 1988, “The synthesis of smooth trajectories for pick-and-place operations,” IEEE Transactions on Systems, Man, and Cybernetics, Vol. 18, No. 1, pp. 173-178.
  258. Angeles, J., Habib, M. and López-Cajún, C., 1988, “Efficient algorithms for the kinematic inversion of redundant robot manipulators,” The International J. Robotics & Automation, Vol. 3, No. 1, pp. 106-116.
  259. Angeles, J. and López-Cajún, C., 1988, “Optimal synthesis of cam mechanisms with oscillating flat-face followers,” Mechanism and Machine Theory, Vol. 23, No. 1, pp. 1-6.
  260. Gosselin, C. and Angeles, J., 1987, “Représentation graphique de la région de mobilité des mécanismes plans et sphériques à barres articulées,” Mechanism and Machine Theory, Vol. 22, No. 6, pp. 557-562.
  261. Gosselin, C. and Angeles, J., 1987, “The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator,”, ASME J. of Mechanisms, Transmissions, and Automation in Design, Vol. 109, No. 1, pp. 35-41.
  262. Angeles, J. , 1987, “Computation of rigid-body angular acceleration from point-acceleration measurements,”, ASME J. of Dynamic Systems, Measurement, and Control, Vol. 109, No. 2, pp. 124-127.
  263. Angeles, J. and Rojas, A., 1987, “Manipulator kinematic inversion via condition-number minimization and continuation,” The International J. Robotics & Automation, Vol. 2, No. 2, pp. 61-69.
  264. Angeles, J. and Bernier, A., 1987, “A general method of four-bar linkage mobility analysis,” ASME J. of Mechanisms, Transmissions, and Auto. in Design, Vol. 109, No. 2, pp. 197-203.
  265. Angeles, J. and Bernier, A., 1987, “The global least-square optimization of function-generating linkages,” ASME J. of Mechanisms, Transmissions, and Auto. in Design, Vol. 109, No. 2, pp. 204-209.
  266. Angeles, J., 1986, “Optimierung ebener, sphärischer und räumlicher Getriebe zur approximierten Lagenzuordnung,” Mechanism and Machine Theory, Vol. 21, No. 2, pp. 187-197.
  267. Angeles, J., Alvarado, M. A. and Mansouri, A.-R., 1986, “A spline-based method of solution of nonlinear two-point boundary-value problems,” Computers and Mathematics with Applications, Vol. 12A, No. 9, pp. 969-985.
  268. Angeles, J., 1986,“Automatic computation of the screw parameters of rigid-body motions. Part I: Finitely-separated positions,” ASME J. of Dynamic Systems, Measurement, and Control, Vol. 108, No. 1, pp. 32-38.
  269. Angeles, J., 1986,“Automatic computation of the screw parameters of rigid-body motions. Part II: Infinitesimally-separated positions,” ASME J. of Dynamic Systems, Measurement, and Control, Vol. 108, No. 1, pp. 39-43.
  270. Angeles, J., 1986,“Iterative kinematic inversion of general five-axis robot manipulators,” The International J. Robotics Research, Vol. 4, No. 4, pp. 59-70.
  271. Angeles, J., 1985,“On the numerical solution of the inverse kinematic problem,” The International J. Robotics Research, Vol. 4, No. 2, pp. 21-37.
  272. Angeles, J. and Callejas M., 1984, “An algebraic formulation of Grashof's mobility criteria with application to linkage optimization using gradient-dependent methods,” Trans. ASME J.\ of Mechanisms, Transmissions, and Automation in Design, Vol. 106, pp. 327-332.
  273. Angeles, J., 1983, “Synthesis of plane closed curves using parametric periodic spline functions (in Spanish),” Revista de la Academia Nacional de Ingeniería(Mexico), Vol. 2, No. 1, pp. 53-81.
  274. Angeles, J., 1983, “Diseño de una máquina cortadora de tubo para la industria manufacturera (Design of a pipe-cutting machine for the manufacturing industry,” (in Spanish), Anales de Ingenierá Mecánica, Vol. 1, No. 1, pp. 421-424.
  275. Angeles, J., 1983, “Synthesis of plane curves with prescribed geometric properties using periodic splines,” Computer-Aided Design, Vol. 15, No. 3, pp. 147-155.
  276. Angeles, J., 1983, “On the computation of physical quantities associated with volumes bounded by closed surfaces using integration on the boundary (in Spanish),” Ingeniería, Vol. 52, No. 1, pp. 95-102.
  277. Angeles, J., 1978, “Scope and limitations of linear models in mechanics (in Spanish),” Ingeniería, Vol. 48, No. 4, pp. 292-297.
  278. Angeles, J., 1976, “A piecewise linear model simulating a class of processes in viscoplastic media (in Spanish),” Ingeniería, Vol. 46, No. 2, pp. 197-204.
  279. Angeles, J., 1974, “Dynamical processes in viscoplastic media (in Spanish),” Ingeniería, Vol. 44, No. 4, pp. 382-396.
  280. Angeles, J., 1970, “Some theorems related to the analysis of three-dimensional linkages (in Spanish),” Ingeniería, Vol. 40, No. 3, pp. 374-377.
  281. Angeles, J., 1970, “A generalization of Aronhold-Kennedy's theorem (in Spanish),” Ingeniería, Vol. 40, No. 1, pp. 59-64.