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Charles W. Wampler
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Journal Articles

Advances in the Theory of Planar Curve Cognates

Samantha N. Sherman, Jonathan D. Hauenstein, Charles W. Wampler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031005.
Paper No: JMR-21-1310
https://doi.org/10.1115/1.4052806
Published Online: November 16, 2021
View Article titled, Advances in the Theory of Planar Curve Cognates
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Topics: Linkages
Journal Articles

A General Method for Constructing Planar Cognate Mechanisms

Samantha N. Sherman, Jonathan D. Hauenstein, Charles W. Wampler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031009.
Paper No: JMR-20-1433
https://doi.org/10.1115/1.4050293
Published Online: March 12, 2021
View Article titled, A General Method for Constructing Planar Cognate Mechanisms
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Topics: Linkages, Rotation
Proceedings Papers

Isotropic Coordinates, Circularity, and Bezout Numbers: Planar Kinematics From a New Perspective

Charles W. Wampler
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A073, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1210
https://doi.org/10.1115/96-DETC/MECH-1210
View Paper titled, Isotropic Coordinates, Circularity, and Bezout Numbers: Planar Kinematics From a New Perspective
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Topics: Kinematics, Linkages, Polynomials
Proceedings Papers

Solving the Kinematics of Planar Mechanisms

Charles W. Wampler
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A060, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5935
https://doi.org/10.1115/DETC98/MECH-5935
View Paper titled, Solving the Kinematics of Planar Mechanisms
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Topics: Eigenvalues, Kinematics, Polynomials
Proceedings Papers

Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation

Charles W. Wampler
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 109-117, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14060
https://doi.org/10.1115/DETC2000/MECH-14060
View Paper titled, Solving the Kinematics of Planar Mechanisms by Dixon Determinant and a Complex-Plane Formulation
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Topics: Eigenvalues, Kinematics
Proceedings Papers

Curve Cognate Constructions Made Easy

Samantha N. Sherman, Jonathan D. Hauenstein, Charles W. Wampler
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A024, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22409
https://doi.org/10.1115/DETC2020-22409
View Paper titled, Curve Cognate Constructions Made Easy
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Topics: Design engineering, Equations of motion, Linkages
Journal Articles

Singularity Traces of Single Degree-of-Freedom Planar Linkages That Include Prismatic and Revolute Joints

Saleh M. Almestiri, Andrew P. Murray, David H. Myszka, Charles W. Wampler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051003.
Paper No: JMR-15-1255
https://doi.org/10.1115/1.4032410
Published Online: May 4, 2016
View Article titled, Singularity Traces of Single Degree-of-Freedom Planar Linkages That Include Prismatic and Revolute Joints
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Topics: Degrees of freedom, Design, Linkages, Circuits, Kinematics
Journal Articles

The Complete Solution of Alt–Burmester Synthesis Problems for Four-Bar Linkages

Daniel A. Brake, Jonathan D. Hauenstein, Andrew P. Murray, David H. Myszka, Charles W. Wampler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041018.
Paper No: JMR-15-1207
https://doi.org/10.1115/1.4033251
Published Online: April 19, 2016
View Article titled, The Complete Solution of Alt–Burmester Synthesis Problems for Four-Bar Linkages
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Topics: Dimensions, Linkages, Algebra, Geometry, Design
Proceedings Papers

Singularity Traces of Planar Linkages That Include Prismatic and Revolute Joints

Saleh M. Almestiri, David H. Myszka, Andrew P. Murray, Charles W. Wampler
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A080, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47390
https://doi.org/10.1115/DETC2015-47390
View Paper titled, Singularity Traces of Planar Linkages That Include Prismatic and Revolute Joints
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Topics: Linkages, Degrees of freedom, Design, Kinematics, Shapes
Proceedings Papers

Using the Singularity Trace to Understand Linkage Motion Characteristics

Lin Li, David H. Myszka, Andrew P. Murray, Charles W. Wampler
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A063, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13244
https://doi.org/10.1115/DETC2013-13244
View Paper titled, Using the Singularity Trace to Understand Linkage Motion Characteristics
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Topics: Linkages, Design, Construction
Journal Articles

Computing the Branches, Singularity Trace, and Critical Points of Single Degree-of-Freedom, Closed-Loop Linkages

David H. Myszka, Andrew P. Murray, Charles W. Wampler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2014, 6(1): 011006.
Paper No: JMR-13-1036
https://doi.org/10.1115/1.4025752
Published Online: December 27, 2013
View Article titled, Computing the Branches, Singularity Trace, and Critical Points of Single Degree-of-Freedom, Closed-Loop Linkages
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Topics: Design, Linkages, Kinematics, Degrees of freedom
Proceedings Papers

Mechanism Branches, Turning Curves, and Critical Points

David H. Myszka, Andrew P. Murray, Charles W. Wampler
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1513-1525, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70277
https://doi.org/10.1115/DETC2012-70277
View Paper titled, Mechanism Branches, Turning Curves, and Critical Points
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Topics: Design, Linkages, Topology, Turning
Proceedings Papers

Locating N Points of a Rigid Body on N Given Planes

Charles W. Wampler
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 513-521, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57182
https://doi.org/10.1115/DETC2004-57182
View Paper titled, Locating N Points of a Rigid Body on N Given Planes
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Topics: Eigenvalues, Kinematics, Metrology, Robotics, Robots
Proceedings Papers

Geometric Design of Cylindric PRS Serial Chains

Hai-Jun Su, Charles W. Wampler, J. Michael McCarthy
Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1069-1077, September 2–6, 2003
Publisher: American Society of Mechanical Engineers
Paper No: DETC2003/DAC-48816
https://doi.org/10.1115/DETC2003/DAC-48816
View Paper titled, Geometric Design of Cylindric PRS Serial Chains
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Topics: Chain, Design, Degrees of freedom, Eigenvalues, Robots
Proceedings Papers

Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops

Charles W. Wampler
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 1075-1085, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34326
https://doi.org/10.1115/DETC2002/MECH-34326
View Paper titled, Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops
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Topics: Displacement, Kinematics, Robots, Eigenvalues, Linkages, Manipulators, Rotation
Proceedings Papers

Advances in Polynomial Continuation for Solving Problems in Kinematics

Andrew J. Sommese, Jan Verschelde, Charles W. Wampler
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 481-488, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34254
https://doi.org/10.1115/DETC2002/MECH-34254
View Paper titled, Advances in Polynomial Continuation for Solving Problems in Kinematics
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Topics: Kinematics, Polynomials, Degrees of freedom, Manufacturing, Algorithms, Design, Dimensions, Manipulators, Mechanical admittance
Journal Articles

On a Rigid Body Subject to Point-Plane Constraints

Charles W. Wampler
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 151–158.
https://doi.org/10.1115/1.2120787
Published Online: July 19, 2005
View Article titled, On a Rigid Body Subject to Point-Plane Constraints
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Topics: Algebra, Algorithms, Degrees of freedom, Eigenvalues, Kinematics, Metrology, Robots, Rotation, Computers, Polynomials
Journal Articles

Advances in Polynomial Continuation for Solving Problems in Kinematics

Andrew J. Sommese, Jan Verschelde, Charles W. Wampler
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2004, 126(2): 262–268.
https://doi.org/10.1115/1.1649965
Published Online: May 5, 2004
View Article titled, Advances in Polynomial Continuation for Solving Problems in Kinematics
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Topics: Algorithms, Dimensions, Polynomials, Kinematics, Linkages
Journal Articles

Geometric Design of Cylindric PRS Serial Chains

Hai-Jun Su, Charles W. Wampler, J. Michael McCarthy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. March 2004, 126(2): 269–277.
https://doi.org/10.1115/1.1667965
Published Online: May 5, 2004
View Article titled, Geometric Design of Cylindric PRS Serial Chains
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Topics: Chain, Design, Eigenvalues, Polynomials
Journal Articles

Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops

Charles W. Wampler
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. January 2004, 126(1): 93–100.
https://doi.org/10.1115/1.1637653
Published Online: March 11, 2004
View Article titled, Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops
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Topics: Displacement, Eigenvalues, Rotation, Kinematics, Polynomials