Journal Publications
Design-Centric Robotics Learning: Deploying a Modular, Mechanism-Based Kit from Lab to K–12 and Postsecondary Education
Purwar, A. (February 3, 2026). ASME. Letters Trans. Robotics. doi: https://doi.org/10.1115/1.4070994
Kinematic Synthesis of Planar Leg Mechanisms Through Large-Scale Dataset Generation, Geometric Filtering, and Optimization
Tang, R.; Lyu, Z.; Purwar, A. Machines (2026), 14, 253. doi: https://doi.org/10.3390/machines14030253
Generative Design of Planar Four-Bar Motions
Halwah, A., and Purwar, A. (November 17, 2025). doi: https://doi.org/10.1115/1.4070416
Advancements in Kinematic Synthesis: Data-driven Methods for Mechanism Design
Purwar, A., and Ge, Q. J. (October 23, 2025). doi: https://doi.org/10.1115/1.4070204
Construction, Reduction, and Decomposition of Planar Mechanisms via an Extended Pebble Game Framework
Lyu, Z., and Purwar, A. (September 22, 2025). doi: https://doi.org/10.1115/1.4069901
Path synthesis of spatial revolute-spherical-cylindrical-revolute mechanisms using deep learning
Deng, X., Nurizada, A. & Purwar, A. (2025). doi: https://doi.org/10.1007/s11465-025-0825-7
Path Generative Model Based on Conditional β-Variational Auto Encoder for Four-Bar Mechanism Design
Nurizada, A., Lyu, Z., and Purwar, A. (December 12, 2024). doi: https://doi.org/10.1007/s11465-025-0825-7
A Dataset of 3M Single-DOF Planar 4-, 6-, and 8-bar Linkage Mechanisms with Open and Closed Coupler Curves for Machine Learning-Driven Path Synthesis.
Nurizada, A., Dhaipule, R., Lyu, Z., and Purwar, A. (October 28, 2024). doi: https://doi.org/10.1115/1.4067014
Point-based Models: A Unified Approach for Geometric Constraint Analysis of Planar N-Bar Mechanisms with Rotary, Sliding, and Rolling Joints
Lyu, Z., and Purwar, A. (October 21, 2024). doi: https://doi.org/10.1115/1.4066963
A Matrix-Based Approach to Unified Synthesis of Planar Four-Bar Mechanisms for Motion Generation with Position, Velocity, and Acceleration Constraints
Deng, X., and Purwar, A. (November 5, 2024). doi: https://doi.org/10.1115/1.4066661
Deep Learning Conceptual Design of Sit-to-Stand Parallel Motion Six-Bar Mechanisms
Lyu, Z., and Purwar, A. (August 21, 2024). doi: https://doi.org/10.1115/1.4066036
A Unified Real-Time Motion Generation Algorithm for Approximate Position Analysis of Planar N-Bar Mechanisms
Lyu, Z., Purwar, A., and Liao, W. (December 15, 2023). doi: https://doi.org/10.1115/1.4064132
Transforming Hand-Drawn Sketches of Linkage Mechanisms into Their Digital Representation
Nurizada, A., and Purwar, A. (November 30, 2023). doi: https://doi.org/10.1115/1.4064037
An Invariant Representation of Coupler Curves using a Variational AutoEncoder: Application
to Path Synthesis of Four-Bar Mechanisms
Nurizada, A., and Purwar, A. (October 9, 2023). doi: https://doi.org/10.1115/1.4063726
Deep Learning-Driven Design of Robot Mechanisms
Purwar, A., and Chakraborty, N. (June 5, 2023). doi: https://doi.org/10.1115/1.4062542
A Multi-Functional Mobility Assist Device for Sit-to-Stand Motion
Purwar, A., Bhargava, K., Behan, E. (December 9, 2022). doi: https://doi.org/10.1016/j.ergon.2022.103396
A Machine Learning Approach to Solving the Alt-Burmester Problem for Synthesis of
Defect-free Spatial Mechanisms
Sharma, S., and Purwar, A. (July 28, 2021). doi: https://doi.org/10.1115/1.4051913
Bringing Engineering Dynamics Online for Improving Student Engagement and Opportunity
Purwar, A., Scott, C., Jaiswal, J. (December 2021). Journal of Online Engineering
Education, 13(1).
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An Image-Based Approach to Variational Path Synthesis of Linkages
Deshpande, S., and Purwar, A. (October 13, 2020). doi: https://doi.org/10.1115/1.4048422
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Development of a Machine Learning Algorithm to Predict the Path of Joints for Gait
Rehabilitation
Gupta, S., and Purwar, A. (October 2020). Transactions on Techniques in STEM Education,
Vol. 6, No. 1. ISSN: 2381-649X.
Using a Point-Line-Plane Representation for Unified Simulation of Planar and Spherical
Mechanisms
Sharma, S., and Purwar, A. (May 26, 2020). doi: https://doi.org/10.1115/1.4046817
Machine Learning-Driven Individualized Gait Rehabilitation: Classification, Prediction,
and Mechanism Design
Loya, A., Deshpande S., and Purwar A. (March 11, 2020). doi: https://doi.org/10.1115/1.4046321
Computational Creativity via Assisted Variational Synthesis of Mechanisms using Deep
Generative Models
Deshpande S., and Purwar A. (2019). doi: https://doi.org/10.1115/1.4044396
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A Machine Learning Approach to Kinematic Synthesis of Defect-Free Planar Four-Bar
Linkages
Deshpande S., and Purwar A. (2019). doi: https://doi.org/10.1115/1.4042325
A Motion Synthesis Approach to Solving Alt-Burmester Problem by Exploiting Fourier
Descriptor Relationship Between Path and Orientation Data
Sharma, S., Purwar A., and Ge, Q. J. (2019). doi: https://doi.org/10.1115/1.4042054
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An Optimal Parametrization Scheme for Path Generation Using Fourier Descriptors for
Four-Bar Mechanism Synthesis
Sharma, S., Purwar A., and Ge, Q. J. (2019). doi: https://doi.org/10.1115/1.4041566
A Unified Approach to Exact and Approximate Motion Synthesis of Spherical Four-Bar
Linkages Via Kinematic Mapping
Li, X., Zhao, P., Purwar, A., and Ge, Q.J. (2018). doi: https://doi.org/10.1115/1.4038305
A Task-Driven Approach to Optimal Synthesis of Planar Four-bar Linkages for Extended
Burmester Problem
Deshpande S., and Purwar A. (2017). doi: https://doi.org/10.1115/1.4037801
MotionGen: Interactive Design and Editing of Planar Four-Bar Motions for Generating
Pose- and Geometric-Constraints
Purwar, A., Deshpande, S., and Ge, Q.J. (2016). doi: https://doi.org/10.1115/1.4035899
A Task Driven Approach to Unified Synthesis of Planar Four-bar Linkages using Algebraic
Fitting of a Pencil of G-manifolds
Ge, Q. J., Purwar, A., Zhao, P., and Deshpande, S. (2016). doi: https://doi.org/10.1115/1.4035528
A Task-Driven Unified Synthesis of Planar Four-Bar and Six-Bar Linkages With R- and
P-Joints for Five-Position Realization
Zhao, P., Li, X., Purwar, A., and Ge, Q. J. (2016). doi: https://doi.org/10.1115/1.4033434
A Unified Algorithm for Analysis and Simulation of Planar Four-Bar Motions Defined
With R- and P-Joints
Li, X., Ge, X., Purwar, A., and Ge, Q.J. (2015). doi: https://doi.org/10.1115/1.4029295
Polar Decomposition of Unit Dual Quaternions
Purwar, A., and Ge, Q. J. (2013). doi: https://doi.org/10.1115/1.4024236
A Novel Approach to Algebraic Fitting of a Pencil of Quadrics for Planar 4R Motion
Synthesis
Ge, Q.J., Zhao, P., Purwar, A., and Li, X. (2012). doi: https://doi.org/10.1115/1.4007447
On the Exact Computation of the Swept Surface of a Cylindrical Surface Undergoing
Two-Parameter Rational Bezier Motions
Xia, J., Ge, Q. J., and Purwar, A. (2010). doi: https://doi.org/10.1115/DETC2000/DFM-14039
Interactive Dimensional Synthesis and Motion Design of Planar 6R Closed Chains via
Constraint Manifold Modification
Wu, J., Purwar, A., and Ge, Q. J. (2010). doi: https://doi.org/10.1115/1.4024236
Rational Motion Interpolation Under Kinematic Constraints of Spherical 6R Closed Chains
Purwar, A., Jin, Z., and Ge, Q. J. (2008). doi: https://doi.org/10.1115/1.4037801
Computer Aided Synthesis of Piecewise Rational Motions for Spherical 2R and 3R Robot
Arms
Purwar, A., Jin, Z., and Ge, Q. J. (2008). doi: https://doi.org/10.1115/1.4037801
Automatic Fairing of Two-Parameter Rational B-Spline Motion
Purwar, A., Chi X., and Ge, Q. J. (2006). doi: https://doi.org/10.1115/1.4037801
On the Effect of Dual Weights in Computer Aided Design of Rational Motions
Purwar, A., and Ge, Q. J. (2005). doi: https://doi.org/10.1115/1.4037801