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Ontario Tech acknowledges the lands and people of the Mississaugas of Scugog Island First Nation.

We are thankful to be welcome on these lands in friendship. The lands we are situated on are covered by the Williams Treaties and are the traditional territory of the Mississaugas, a branch of the greater Anishinaabeg Nation, including Algonquin, Ojibway, Odawa and Pottawatomi. These lands remain home to many Indigenous nations and peoples.

We acknowledge this land out of respect for the Indigenous nations who have cared for Turtle Island, also called North America, from before the arrival of settler peoples until this day. Most importantly, we acknowledge that the history of these lands has been tainted by poor treatment and a lack of friendship with the First Nations who call them home.

This history is something we are all affected by because we are all treaty people in Canada. We all have a shared history to reflect on, and each of us is affected by this history in different ways. Our past defines our present, but if we move forward as friends and allies, then it does not have to define our future.

Learn more about Indigenous Education and Cultural Services

A portrait of Dr. Scott Nokleby

Scott Nokleby
BEng, MASc, PhD (Victoria), PEng

Department Chair and Professor

Department of Automotive and Mechatronics Engineering

Faculty of Engineering and Applied Science

Contact information

2000 Simcoe Street North
Oshawa, Ontario L1G 0C5
Office: ERC 3086

905.721.8668 ext. 5491
905.721.3370 (fax)

scott.nokleby@ontariotechu.ca
http://faculty.uoit.ca/nokleby/


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

Publications and presentations

  • 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.