Tarcisio Antonio Hess Coelho

About

Tarcisio Antonio Hess Coelho is a Brazilian robotics researcher whose work centers on the kinematic synthesis, dynamic modeling, and control of parallel robotic mechanisms. His most influential contributions address fundamental challenges in designing and analyzing parallel kinematic structures, particularly for robotic wrist applications. His 2005 paper on topological synthesis of a parallel wrist mechanism (46 citations) introduced a qualitative procedure for systematically selecting among candidate robot architectures — a long-standing open problem in the field. This was followed by his proposal of a redundant parallel spherical mechanism (44 citations), further advancing practical design methodologies for orienting mechanisms. Coelho has also made significant strides in dynamic modeling, developing modular methodologies that simplify the notoriously complex analysis of parallel systems, including asymmetric configurations often overlooked by mainstream research. His comparative studies of classical formulations — Lagrange's, Maggi's, and Kane's equations — applied to manipulators reflect a commitment to rigorous, pedagogically valuable scholarship. More recently, his work has expanded into hybrid control strategies for parallel robots, improving real-world performance across industrial applications. With over 150 cumulative citations, Coelho's body of work represents a sustained and meaningful contribution to advancing parallel robotics from theoretical foundations through to practical implementation.

Research Focus

Key Achievements

Top Papers

1. 1
   Topological Synthesis of a Parallel Wrist Mechanism

   46 citations · 2005
2. 2
   A Redundant Parallel Spherical Mechanism for Robotic Wrist Applications

   44 citations · 2006
3. 3
   Modular modelling methodology applied to the dynamic analysis of parallel mechanisms

   20 citations · 2021
4. 4
   Dynamic Model of a 3-dof Asymmetric Parallel Mechanism

   15 citations · 2010
5. 5
   Improving the performance of parallel robots by applying distinct hybrid control techniques

   9 citations · 2021
6. 6
   Lagrange’s, Maggi’s and Kane’s Equations Applied to the Dynamic Modelling of Serial Manipulator

   8 citations · 2018
7. 7
   Applications of the Modular Modelling Methodology to the Dynamic Analysis of Parallel Manipulators with Common Subsystems

   6 citations · 2021
8. 8
   Control of planar parallel robots by applying distinct hybrid techniques in the task space

   4 citations · 2024
9. 9
   A contribution for developing more efficient dynamic modelling algorithms of parallel robots

   4 citations · 2013
10. 10
    Development of a milling parallel robot for educational purposes

    3 citations · 2013

Key Collaborators

Contact & Links