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Research topics
- Robotics
- Mechatronics
- Mechanisms
- Automation
- Advanced Kinematics of Robots and Mechanisms
- Redundant Manipulator Systems
- Mobile-Manipulator Systems
- Mechanism and Robot Design
- Optimal Design
Education
- PhD (Mechanical Engineering), University of Victoria, 2003
- MASc (Mechanical Engineering), University of Victoria, 1999
- BEng (Mechanical Engineering with Co-op Program and Management Option), University of Victoria, 1997
Courses
- Advanced Mechatronics
- Advanced Optimization
- Engineering Graphics and Design
- Kinematics and Dynamics of Machines
- Mechatronics
- Mechatronic Systems Design I and II
- Robotics
- Robotics and Automation
Research and expertise
- Natural Sciences and Engineering Research Council of Canada:
- Postgraduate Scholarship B (PGS-B) (2001 - 2003)
- Postgraduate Scholarship A (PGS-A) (1999 - 2001)
- Industrial Undergraduate Research Award (1997)
- British Columbia Advanced Systems Institute:
- Graduate Recruitment Assistance Program Scholarship Award (1999 - 2000)
- Science Council of British Columbia:
- Graduate Research Engineering and Technology (GREAT) Scholarship (2000 - 2002)
- University of Victoria:
- David F. Strong Research Scholarship (2002 - 2003)
- Charles S. Humphrey Graduate Student Award (2000 - 2001 and 2002 - 2003)
- President's Research Scholarship (1999 - 2003)
- Graduate Student Award for Excellence in Teaching (2001)
- Howard E. Petch Research Scholarship (1999 - 2000)
- President's Regional Entrance Scholarship (1992 - 1993)
- Faculty of Engineering: Dean's Entrance Scholarship (1992 - 1993)
Publications and presentations
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Selected publications and presentations
Book Contributions
- Gauthier, J.-F., Angeles, J., and Nokleby, S. B., 2008, “Optimization of a Test Trajectory for SCARA Systems,” in Advances in Robot Kinematics: Analysis and Design, edited by Lenarcic, J. and Wenger, P., Springer: New York, USA, pp. 225-234.
- Firmani, F., Nokleby, S. B., Podhorodeski, R. P., and Zibil, A., 2008, “Wrench Capabilities of Planar Parallel Manipulators and their Effects Under Redundancy,” Parallel Manipulators: Towards New Applications, edited by Wu, H., I-Tech Education and Publishing: Vienna, Austria, pp. 109-132.
- Nokleby, S. B. and Podhorodeski, R. P., 2007, “A Complete Family of Kinematically-Simple Joint Layouts: Layout Models, Associated Displacement Problem Solutions, and Applications,” in Industrial Robotics: Theory, Modelling and Control, edited by Cubero, S., Advanced Robotic Systems International: Vienna, Austria, pp. 237-264.
Journal Publications
- Venus, G., Carretero, J. A., and Nokleby, S. B., 2009 (in press), “A New Technique to Calculate the Force and Moment Workspaces of Actuation Redundant Spatial Parallel Manipulators,” Transactions of the ASME, Journal of Mechanisms and Robotics.
- Garg, V., Nokleby, S. B., and Carretero, J. A., 2009, “Wrench Capability Analysis of Redundantly-Actuated Spatial Parallel Manipulators,” Mechanism and Machine Theory, Vol. 44, No. 5, pp. 1070-1081.
- Gauthier, J.-F., Angeles, J., Nokleby, S. B., and Morozov, A., 2009, “The Kinetostatic Conditioning of Two-Limb Schönflies Motion Generators,” Transactions of the ASME, Journal of Mechanisms and Robotics, Vol. 1, No. 1, pp. 011010-1 to 011010-12.
- Firmani, F., Nokleby, S. B., Zibil, A., and Podhorodeski, R. P., 2008, “Wrench Capabilities of Planar Parallel Manipulators - Part II: Redundancy and Wrench Workspace Analysis,” Robotica, Vol. 26, No. 6, pp. 803-815.
- Firmani, F., Nokleby, S. B., Zibil, A., and Podhorodeski, R. P., 2008, “Wrench Capabilities of Planar Parallel Manipulators - Part I: Wrench Polytopes and Performance Indices,” Robotica, Vol. 26, No. 6, pp. 791-802.
- Firmani, F., Zibil, A., Nokleby, S. B., and Podhorodeski, R. P., 2007, “Force-Moment Capabilities of Revolute-Jointed Planar Parallel Manipulators with Additional Actuated Branches,” Transactions of the CSME, Vol. 31, No. 4, pp. 469-481.
- Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P., 2007, “An Explicit Method for Determining the Force Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators,” Transactions of the ASME, Journal of Mechanical Design, Vol. 129, No. 10, pp. 1046-1055.
- Nokleby, S. B., 2007, “Singularity Analysis of the Canadarm2,” Mechanism and Machine Theory, Vol. 42, No. 4, pp. 442-454.
- Nokleby, S. B., 2005, “Force-Moment Capabilities of Planar-Parallel Manipulators Using Different Redundant-Actuation Configurations,” Transactions of the CSME, Vol. 29, No. 4, pp. 669-678.
- Nokleby, S. B., Fisher, R., Podhorodeski, R. P., and Firmani, F., 2005, “Force Capabilities of Redundantly-Actuated Parallel Manipulators,” Mechanism and Machine Theory, Vol. 40, No. 5, pp. 578-599.
