Research Projects



The Peppermill-carrier (PMC), a Novel Pick-and-place (P&P) Robot

The most frequent P&P operations involve three independent translations and one rotation about an axis of fixed direction, usually vertical. The set of displacements involved is termed Schönflies.

Current industrial P&P robots, intended for fast operations, carry four limbs, which poses a challenge to the realization of half turns, mandatory in these operations. A novel concept, comprising only two limbs, was disclosed by C.C. Lee and P.C. Lee in a by-invitation-only symposium in December 2009. The authors published their disclosure later in a book (Lou, Y. and Li, Z., Geometric Methods in Robotics and Mechanism Research. Theory and Applications, Lambert Academic Publishing, Saarbrücken, Germany). This ingenious solution, however, relies on a two-degree-of-freedom (two-dof) drive to produce the rotation of a collar about an axis and its translation in the directions of the axis. Rsearch at the Robotic Mechanical Systems Laboratory (RMSLab), based on theoretical kinematics Lie groups, led to a novel two-dof drive, termed the C-drive.

Lee and Lee's idea was realized at RMSLab using, two C-drives, in a Schönflies-Motion Generator (SMG), dubbed the Peppermill-carrier, as the gripper, in the form of a long rod, is actuated by means of the gesture of waiters in Italian restaurants when serving pepper using a long peppermill.

For a pdf presentation of the system, see PMCdevelopment.pdf. For the videos of the system, please click PMCtestcycle.wmv, PMCdemo.wmv. (Prototype, videos, photo and slides were produced by Thomas Friedlaender.)

For videos of the C-drive, click Translation.AVI, Rotation.AVI, Helix.AVI, RHHR3mtns.mp4.


Haptic Agile Wrist

Haptic Agile Wrist

The Agile Wrist (AW) is a spherical parallel-kinematics machine intended to operate as a haptic joystick. The AW is capable of pure rotations about one point, the centre of the machine. Its kinematic chain comprises one base plate (BP) and one moving plate (MP), coupled by three limbs, each being composed of two links, one proximal (to the BP), one distal. The two links are coupled, in turn, by means of a passive revolute (R) joint, i.e., a pin joint. The proximal link is coupled, additionally, to the BP by means of a R joint actuated by a motor, the distal link being coupled to the BP by means of a passive R joint.

As the operator of the joystick impinges an arbitrary rotation to the MP by means of a handle, the motors respond with a torque that is proportional to the angle of rotation about each of the motor axes, the AW thereby functioning as a three-axis rotational linear spring. Nonlinear springs can also be emulated with the control software.



A Dual-Arm Isotropically Enhanced Robotic Environment for Trajectory Planning, Obstacle Avoidance and Force Control



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 Robot

Dual-Wheeled Mobile Robots

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



CAD/CAE Software Packages

  • USyCams



The State of the Art of Mechanical-Transmission Technology

  • United States Patent, No. US 6382938B2

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)