Publications
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. An algebraic formulation of kinematic isotropy and design of isotropic 6-6 Stewart platform manipulators. Mechanism and Machine Theory. 2008;43:591-616.
. Geometric characterization and parametric representation of the singularity manifold of a 6-6 Stewart platform manipulator. Mechanism and Machine Theory. 2006;41:1377-1400.
. Analysis of configuration space singularities of closed loop mechanisms and parallel manipulators. Mechanism and Machine Theory. 2004;39:519-544.
. Analytical determination of principal twists in serial, parallel and hybrid manipulators using dual number algebra. Mechanism and Machine Theory. 2004;39:1289-1305.
. A differential geometric method for kinematic analysis of two- and three-degree-of-freedom rigid body motions. Mechanics of Structures and Machines. 2002;30:279-307.