When 4-Bar Linkages Break Down: An Intuitive Linear Algebra Perspective
We explore how linear algebra, specifically eigenvalue analysis of the constraint Hessian, reveals the locking behavior of planar 4-bar linkages. Read more →
Blog
This space is where I document ideas that don’t quite fit into formal publications: side projects, engineering builds, early-stage research directions, and personal deep-dives. Some posts are informal walkthroughs, others are research-style notes capturing what I learned while prototyping new methods, testing out a hunch, or chasing an idea I couldn’t leave alone.
Forward Linkage Kinematics with Conformal Geometric Algebra
We present a novel formulation of planar closed-loop linkage kinematics using conformal geometric algebra (CGA), enabling compact, coordinate-free representation of linkage elements and constraints. Read more →