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. ASME. J. Mechanisms Robotics. (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. ASME. J. Comput. Inf. Sci. (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. ASME. J. Mechanisms and Robotics. (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. Front. Mech. Eng. (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. ASME. J. Mechanisms and
Robotics. (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. ASME Journal of Mechanical Design. (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. ASME. J. Mechanisms and Robotics. (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. ASME. J. Comput. Inf. Sci. Eng. (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. ASME. J. Mech. Des. (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. ASME. J. Mech. Des. (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. ASME. J. Comput. Inf. Sci. Eng. (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. ASME. J. Comput.
Inf. Sci. Eng. (October 9, 2023). doi: https://doi.org/10.1115/1.4063726
Deep Learning-Driven Design of Robot Mechanisms
Purwar, A., and Chakraborty, N. ASME. J. Comput. Inf. Sci. Eng. (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. Elsevier International Journal of Industrial Ergonomics.
(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. ASME. J. Comput. Inf. Sci. Eng. (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. Journal of Online Engineering Education. (December
2021).
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An Image-Based Approach to Variational Path Synthesis of Linkages
Deshpande, S., and Purwar, A. ASME. J. Comput. Inf. Sci. Eng. (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. ASME. J. Comput. Inf. Sci. Eng. (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. ASME Journal of Engineering and
Science in Medical Diagnostics and Therapy. (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. ASME Journal of Mechanical Design. (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. ASME Journal of Computing and Information Science in Engineering.
(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. ASME Journal of Mechanisms and Robotics. (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. ASME Journal of Computing and Information Science
and Engineering. (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. ASME Journal of Mechanisms and Robotics.
(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. ASME Journal of Mechanisms and Robotics. (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. ASME Journal of Mechanisms and Robotics.(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. ASME Journal of Computing and Information
Science in Engineering. (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. ASME. J. Mechanisms Robotics. (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. ASME J. Mechanisms Robotics. (2015). doi:
https://doi.org/10.1115/1.4029295
Polar Decomposition of Unit Dual Quaternions
Purwar, A., and Ge, Q. J. ASME Journal of Mechanisms and Robotics. (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. ASME J. Comput. Inf. Sci. Eng. (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. International Journal of Mechatronics
and Manufacturing Systems. (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. ASME Journal of Mechanisms and Robotics. (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. ASME Journal of Mechanical Design. (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. ASME Journal of Mechanical Design. (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. ASME Journal of Mechanical Design. (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. ASME Journal of Mechanical Design. (2005). doi: https://doi.org/10.1115/1.4037801