• Ph.D., University of Florida, 1985
  • M.S., University of Florida, 1983
  • B.S., University of Florida, 1977

Research Areas and Descriptors


Dr. Lipkin began at Tech in 1985 as an Associate Professor.


Dr. Lipkin's research areas include the design and analysis of mechanical systems, robotics, and mechanisms. His recent work includes the application of screw theory to theoretical kinematics, the synthesis of stiffness by springs, geometric properties of linear vibrations, recursive multibody dynamics, remote center-of-compliance devices for robotic application, and real-time visual control of robot manipulators with on-line kinematic estimation. His reseach includes two projects for the National Aeronautics and Space Administration/Marshall Space Flight Center. One is on active visual control for improved surface inspection and the other deals with methods of design for structural stiffness.


  • American Society of Mechanical Engineers Design Technical Conferences
    • General Co-Chair, 1998
  • Journal of Mechanical Design Associate Technical Editor, 1993-1994
  • National Science Foundation Presidential Young Investigator Award, 1987-1992


  • Uncalibrated Dynamic Mechanical System Controller, U. S. Patent 6,278,906, with Mary Lynn Realff, Robert Braga, David Burrows, Eric Fuller, and Erika Geist, August 21, 2001
  • Automated Yarn Creeling Device, U. S. Patent 6,260,783, July 17, 2001

Representative Publications

  • I. Ebert-Uphoff, J. K. Lee, and H. Lipkin. 2002. Singularity Analysis of Parallel Manipulators Based on the Characteristic Tetrahedron. Journal of Mechanical Engineering Science, Institution of Mechanical Engineers Part C.
  • J. A. Piepmeier, et al. 2000. Uncalibrated Target Tracking with Obstacle Avoidance. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, 1670-1675.
  • N. Ciblak and H. Lipkin. 1999. Synthesis of Cartesian Stiffness for Robotic Applications. Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, 2147-2152.
  • P. Blanchet and H. Lipkin. 1998. Dual Properties for Vibration Analysis via Screw Theory. Proceedings of the ASME Design Engineering Technical Conferences, Atlanta, Paper DETC98/MECH-5868.
  • H. Lipkin. 1995. Extension of Euler's Principal Axes to Articulated Inertias. Ninth World Congress on the Theory of Machines and Mechanisms 2, Milan, Italy, 1475-1479.