All Stories

  1. An application of screw theory to the jerk analysis of the PUMA robot

    Article • Archive of Mechanical Engineering, December 2024, Polish Academy of Sciences Chancellery

    Dr. Jaime Gallardo-Alvarado

  2. Symbolic Dynamic Balance of the 3-RRR Planar Parallel Manipulator

    Article • Journal of The Institution of Engineers (India) Series C, December 2024, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  3. An application of natural matrices to the dynamic balance problem of planar parallel manipulators

    Article • Robotica, September 2024, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  4. Symbolic Computation of the Lie Algebra se(3) of the Euclidean Group SE(3): An Application to the Infinitesimal Kinematics of Robot Manipulators

    Article • Mathematics, August 2024, MDPI AG

    Dr. Jaime Gallardo-Alvarado

  5. A simple matrix method for the force balancing of planar multi-degree-of-freedom linkages

    Article • International Journal of Mechanical Engineering Education, May 2024, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  6. The Klann mechanism: kinematic analysis and force balancing

    Article • Journal of the Brazilian Society of Mechanical Sciences and Engineering, April 2024, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  7. A novel Schönflies-motion generator parallel manipulator with decoupled rotational freedom

    Article • Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, December 2023, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  8. A robust control scheme for a 2PUS+RR parallel robot for ankle rehabilitation

    Article • Robotica, July 2023, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  9. Unified infinitesimal kinematics of a 3-RRR/PRR six-degree-of-freedom parallel-serial manipulator

    Article • Meccanica, March 2023, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  10. An approach to solving the forward kinematics of the 5-RPUR (3T2R) parallel manipulator

    Article • Journal of Mechanical Science and Technology, February 2023, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  11. Kinematics of a Novel Nine-Degree-of-Freedom Configurable Gough–Stewart Platform

    Article • Iranian Journal of Science and Technology Transactions of Mechanical Engineering, February 2023, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  12. Kinematics of a three-legged 1R2T decoupled parallel manipulator

    Article • Journal of the Brazilian Society of Mechanical Sciences and Engineering, January 2023, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  13. Kinematics of a Schönflies-Motion Generator Parallel Manipulator with Moving Configurable Platform

    Article • Mathematical Problems in Engineering, September 2022, Hindawi Publishing Corporation

    Dr. Jaime Gallardo-Alvarado

  14. Kinematics of a nine-legged in-parallel manipulator with configurable platform

    Article • Robotica, July 2022, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  15. Forward Kinematics and Singularity Analyses of an Uncoupled Parallel Manipulator by Algebraic Screw Theory

    Article • IEEE Access, January 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Dr. Jaime Gallardo-Alvarado

  16. Cinemática de un manipulador configurable por medio de la teoría de tornillos

    Article • Revista Iberoamericana de Automática e Informática Industrial RIAI, December 2020, Universitat Politecnica de Valencia

    Dr. Jaime Gallardo-Alvarado

  17. Alternative Methods for Direct Kinematic Analysis of a Parallel Robot for Ankle Rehabilitation

    Article • November 2020, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  18. Algorithm to Determine the Volume and Shape of Constant Orientation Workspace for a 2(3-RRPS) Parallel Robot

    Article • IEEE Latin America Transactions, July 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Dr. Jaime Gallardo-Alvarado

  19. A Gough–Stewart parallel manipulator with configurable platform and multiple end-effectors

    Article • Meccanica, February 2020, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  20. A Parallel Manipulator with Planar Configurable Platform and Three End-Effectors

    Article • Mathematical Problems in Engineering, September 2019, Hindawi Publishing Corporation

    Dr. Jaime Gallardo-Alvarado

  21. A Simple Method to Solve the Instantaneous Kinematics of the 5-RUR Parallel Manipulator

    Article • Robotica, February 2019, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  22. An Application of the Newton-Homotopy Continuation Method for Solving the Forward Kinematic Problem of the 3-RRS Parallel Manipulator

    Article • Mathematical Problems in Engineering, January 2019, Hindawi Publishing Corporation

    Dr. Jaime Gallardo-Alvarado

  23. A New Parallel Manipulator With Multiple Operation Modes

    Article • Journal of Mechanisms and Robotics, July 2018, ASME International

    Dr. Jaime Gallardo-Alvarado

  24. A Parallel Manipulator for Simulating the Ship Seakeeping Trial

    Article • Iranian Journal of Science and Technology Transactions of Mechanical Engineering, July 2018, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  25. Kinematics of the 3(RPSP)-S Fully Spherical Parallel Manipulator by Means of Screw Theory

    Article • Robotics, June 2018, MDPI AG

    Dr. Jaime Gallardo-Alvarado

  26. A Five-Bar Planar Parallel Manipulator with Two End-Effectors

    Article • June 2018, MDPI AG

    Dr. Jaime Gallardo-Alvarado

  27. Kinematics and dynamics of a 4- P RUR Schönflies parallel manipulator by means of screw theory and the principle of virtual work

    Article • Mechanism and Machine Theory, April 2018, Elsevier

    Dr. Jaime Gallardo-Alvarado

  28. Kinematics of the 4-RUU parallel manipulator generator of the Schönflies motion by means of screw theory

    Article • Journal of Mechanical Science and Technology, October 2017, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  29. A 3-Legged Parallel Robot for Long Bone Fracture Alignment

    Article • August 2017, ASME International

    Dr. Jaime Gallardo-Alvarado

  30. Skin disease recognition using texture analysis

    Article • August 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Dr. Jaime Gallardo-Alvarado

  31. Análisis Cinemático del Manipulador Paralelo 4- P RUR Mediante la Teoría de Tornillos

    Article • Revista Iberoamericana de Automática e Informática Industrial RIAI, July 2017, Universitat Politecnica de Valencia

    Dr. Jaime Gallardo-Alvarado

  32. A New Four-Degrees-of-Freedom Parallel Manipulator

    Article • IEEE Latin America Transactions, May 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Dr. Jaime Gallardo-Alvarado

  33. Effects of number of legs in parallel manipulators

    Article • Robotica, January 2017, Cambridge University Press

    Dr Bahram Tarvirdizadeh, Mohammad abedinnasab, Dr. Jaime Gallardo-Alvarado, Farzam Farahmand

  34. The Wide-Open Three-Legged Parallel Robot for Long-Bone Fracture Reduction

    Article • Journal of Mechanisms and Robotics, January 2017, ASME International

    Dr. Jaime Gallardo-Alvarado

  35. Kinematics and Dynamics of a Translational Parallel Robot Based on Planar Mechanisms

    Article • Machines, November 2016, MDPI AG

    Dr. Jaime Gallardo-Alvarado

  36. Simplified Kinematics for a Parallel Manipulator Generator of the Schönflies Motion

    Article • Journal of Mechanisms and Robotics, October 2016, ASME International

    Dr. Jaime Gallardo-Alvarado

  37. A simple approach to solving the kinematics of the 4-UPS/PS (3R1T) parallel manipulator

    Article • Journal of Mechanical Science and Technology, May 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  38. Kinematics of a Class of Three-Legged Parallel Manipulators by Means of Screw Theory

    Article • Ingeniería Investigación y Tecnología, April 2016, Elsevier

    Dr. Jaime Gallardo-Alvarado

  39. A Novel Reconfiguration Strategy of a Delta-Type Parallel Manipulator

    Article • International Journal of Advanced Robotic Systems, January 2016, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  40. Kinematic Analysis of Parallel Manipulators by Algebraic Screw Theory

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  41. Mathematical Background

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  42. Velocity Analysis

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  43. Acceleration Analysis

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  44. Jerk Analysis

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  45. Hyper-Jerk Analysis

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  46. 3R2T Parallel Manipulator

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  47. 3-RRPS Parallel Manipulator

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  48. 3RRRS+3RRPS Parallel Manipulator

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  49. Gough’s Tyre Testing Machine

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  50. The Original Stewart Platform

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  51. Delta Robot

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  52. Appendix 2: Computer Codes

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  53. An Overview of the Theory of Screws

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  54. An Overview of Parallel Manipulators

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  55. Two-Degree-of-Freedom Parallel Wrist

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  56. Full Answers to Selected Exercises

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  57. Appendix 1: A Simple Method to Compute the Rotation Matrix

    Article • January 2016, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  58. Path Planning Algorithm for Manipulators Based on an Improved Backtracking Search Algorithm

    Article • August 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Dr. Jaime Gallardo-Alvarado, Dr Bablu K Ghosh

  59. Kinematics of an actuating mechanism for a telescoping antenna

    Article • Ingeniería e Investigación, March 2015, Universidad Nacional de Colombia

    Dr. Jaime Gallardo-Alvarado

  60. An Application of Screw Theory to the Jerk Analysis of a Two-Degrees-of-Freedom Parallel Wrist

    Article • Robotics, March 2015, MDPI AG

    Dr. Jaime Gallardo-Alvarado

  61. Kinematic analysis of a novel 2(3-RUS) parallel manipulator

    Article • Robotica, January 2015, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  62. An application of screw theory to the kinematic analysis of a Delta-type robot

    Article • Journal of Mechanical Science and Technology, September 2014, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  63. Rigid Body Hyper-jerk Analysis Using Screw Theory

    Article • August 2014, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  64. A simple method to solve the forward displacement analysis of the general six-legged parallel manipulator

    Article • Robotics and Computer-Integrated Manufacturing, February 2014, Elsevier

    Dr. Jaime Gallardo-Alvarado

  65. Kinematics and Dynamics of a 3-RPSR Parallel Robot Used as a Pipe-Bending Machine

    Article • January 2014, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  66. Mobility analysis and kinematics of the semi-general 2(3-RPS) series-parallel manipulator

    Article • Robotics and Computer-Integrated Manufacturing, December 2013, Elsevier

    Dr. Jaime Gallardo-Alvarado

  67. Kinematics of the 3RRRS+S Parallel Wrist: A Parallel Manipulator Free of Intersecting Revolute Axes#

    Article • Mechanics Based Design of Structures and Machines, October 2013, Taylor & Francis

    Dr. Jaime Gallardo-Alvarado

  68. Dynamics of a 2(3-RRPS) parallel manipulator

    Article • July 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dr. Jaime Gallardo-Alvarado

  69. Hyper-Jerk Analysis of Robot Manipulators

    Article • Journal of Intelligent & Robotic Systems, June 2013, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  70. Kinematic analyses of novel translational parallel manipulators

    Article • Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, April 2013, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  71. A Gough/Stewart-type platform under a combined scheme of actuation

    Article • The International Journal of Advanced Manufacturing Technology, March 2013, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  72. Finding the Generalized Forces of a Series-Parallel Manipulator

    Article • International Journal of Advanced Robotic Systems, January 2013, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  73. A parallel manipulator inspired by the original Stewart platform

    Article • Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, July 2012, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  74. A 2(3-RRPS) parallel manipulator inspired by Gough–Stewart platform

    Article • Robotica, July 2012, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  75. A novel six-degrees-of-freedom series-parallel manipulator

    Article • Journal of Mechanical Science and Technology, June 2012, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  76. Jerk analysis of a six-degrees-of-freedom three-legged parallel manipulator

    Article • Robotics and Computer-Integrated Manufacturing, April 2012, Elsevier

    Dr. Jaime Gallardo-Alvarado

  77. Enhancing the originality of the Stewart platform through its kinematic analyses

    Article • Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, February 2012, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  78. Inverse jerk analysis of symmetric zero-torsion parallel manipulators

    Article • Robotics and Autonomous Systems, November 2011, Elsevier

    Dr. Jaime Gallardo-Alvarado

  79. Evaluation of a new Backtrack Free path planning Algorithm for two manipulators

    Article • November 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Dr. Jaime Gallardo-Alvarado

  80. A novel three degrees of freedom partially decoupled robot with linear actuators

    Article • Robotica, July 2011, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  81. RECUPERANDO LA PÉRDIDA DE MOVILIDAD EN MANIPULADORES SERIALES POR MEDIO DE LA TEORÍA DE TORNILLOS

    Article • Ingeniería, July 2011, Universidad de Costa Rica

    Dr. Jaime Gallardo-Alvarado

  82. The kinematics of modular spatial hyper-redundant manipulators formed from RPS-type limbs

    Article • Robotics and Autonomous Systems, January 2011, Elsevier

    Dr. Jaime Gallardo-Alvarado

  83. DeLiA: A New Redundant Partially Decoupled Robot

    Article • Advanced Robotics, January 2011, Taylor & Francis

    Dr. Jaime Gallardo-Alvarado

  84. Modal Control of a Flexible Cantilevered Beam

    Article • September 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Dr. Jaime Gallardo-Alvarado

  85. A worm-inspired new spatial hyper-redundant manipulator

    Article • Robotica, August 2010, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  86. DeLiA: a New Family of Redundant Robot Manipulators

    Article • August 2010, IntechOpen

    Dr. Jaime Gallardo-Alvarado

  87. Kinematics of an asymmetrical three-legged parallel manipulator by means of the screw theory

    Article • Mechanism and Machine Theory, July 2010, Elsevier

    Dr. Jaime Gallardo-Alvarado

  88. A novel five-degrees-of-freedom decoupled robot

    Article • Robotica, December 2009, Cambridge University Press

    Dr. Jaime Gallardo-Alvarado

  89. Jerk Analysis of the Spine by Means of a Parallel Manipulator

    Article • International Journal of Advanced Robotic Systems, December 2009, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  90. A new family of constrained redundant parallel manipulators

    Article • Multibody System Dynamics, September 2009, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  91. A new spatial hyper-redundant manipulator

    Article • Robotics and Computer-Integrated Manufacturing, August 2009, Elsevier

    Dr. Jaime Gallardo-Alvarado

  92. Kinematics of a hyper-redundant manipulator by means of screw theory

    Article • Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics, July 2009, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  93. Kinematics of a five-degrees-of-freedom parallel manipulator using screw theory

    Article • The International Journal of Advanced Manufacturing Technology, March 2009, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  94. Infinitesimal Kinematics Methods in the Mobility Determination of Kinematic Chains

    Article • January 2009, ASME International

    Dr. Jaime Gallardo-Alvarado

  95. Finding the jerk properties of multi-body systems using helicoidal vector fields

    Article • Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, November 2008, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  96. Kinematics and dynamics of 2(3-RPS) manipulators by means of screw theory and the principle of virtual work

    Article • Mechanism and Machine Theory, October 2008, Elsevier

    Dr. Jaime Gallardo-Alvarado

  97. Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory

    Article • Multibody System Dynamics, September 2008, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  98. Acceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory

    Article • April 2008, IntechOpen

    Dr. Jaime Gallardo-Alvarado

  99. A family of spherical parallel manipulators with two legs

    Article • Mechanism and Machine Theory, February 2008, Elsevier

    Dr. Jaime Gallardo-Alvarado

  100. Velocity and Acceleration Analyses of Lower Mobility Platforms via Screw Theory

    Article • January 2008, ASME International

    Dr. Jaime Gallardo-Alvarado

  101. Analytical Solution of the Forward Position Analysis of Parallel Manipulators That Generate 3-RS Structures

    Article • Advanced Robotics, January 2008, Taylor & Francis

    Dr. Jaime Gallardo-Alvarado

  102. Acceleration and singularity analyses of a parallel manipulator with a particular topology

    Article • Meccanica, February 2007, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  103. Kinematics of a class of parallel manipulators which generates structures with three limbs

    Article • Multibody System Dynamics, February 2007, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  104. Kinematics of 3-RPS parallel manipulators by means of screw theory

    Article • The International Journal of Advanced Manufacturing Technology, January 2007, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  105. Mobility of Single Loop Linkages: A Final Word?

    Article • January 2007, ASME International

    Dr. Jaime Gallardo-Alvarado

  106. Kinematics and singularity analyses of a 4-dof parallel manipulator using screw theory

    Article • Mechanism and Machine Theory, September 2006, Elsevier

    Dr. Jaime Gallardo-Alvarado

  107. A Group Theoretical Derivation of a More General Mobility Criterion for Parallel Manipulators

    Article • Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, July 2006, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  108. The Duality Relation Between Mechanisms and Structures: A Different View

    Article • January 2006, ASME International

    Dr. Jaime Gallardo-Alvarado

  109. A More General Mobility Criterion for Parallel Platforms

    Article • Journal of Mechanical Design, January 2006, ASME International

    Dr. Jaime Gallardo-Alvarado

  110. Kinematics of a Hybrid Manipulator by Means of Screw Theory

    Article • Multibody System Dynamics, November 2005, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  111. A Matrix Based Mobility Criterion for Parallel Platforms

    Article • January 2005, ASME International

    Dr. Jaime Gallardo-Alvarado

  112. Dynamics of parallel manipulators by means of screw theory

    Article • Mechanism and Machine Theory, November 2003, Elsevier

    Dr. Jaime Gallardo-Alvarado

  113. Lie Algebra and the Mobility of Kinematic Chains

    Article • Journal of Robotic Systems, July 2003, Wiley

    Dr. Jaime Gallardo-Alvarado, Bahram Ravani

  114. Jerk distribution of a 6–3 Gough-Stewart platform

    Article • Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics, January 2003, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  115. Computer Implementation of an Improved Kutzbach-Grübler Mobility Criterion

    Article • January 2002, ASME International

    Dr. Jaime Gallardo-Alvarado

  116. A Complete Kinematic Analogy

    Article • International Journal of Mechanical Engineering Education, January 2002, SAGE Publications

    Dr. Jaime Gallardo-Alvarado

  117. Article • Meccanica, January 2001, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  118. Article • Meccanica, January 2000, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  119. Screw theory and higher order kinematic analysis of open serial and closed chains

    Article • Mechanism and Machine Theory, May 1999, Elsevier

    Dr. Jaime Gallardo-Alvarado

  120. Screw Theory and Helicoidal Fields

    Article • September 1998, ASME International

    Dr. Jaime Gallardo-Alvarado

  121. Acceleration Analysis, Via Screw Theory, and Characterization of Singularities of Closed Chains

    Article • January 1996, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  122. A Determination of Singular Configurations of Serial Non-Redundant Manipulators, and Their Escapement from Singularities using Lie Products

    Article • January 1995, Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado

  123. Mobility and connectivity in multiloop linkages

    Article • Springer Science + Business Media

    Dr. Jaime Gallardo-Alvarado