Author
Ali Raoofian
Bio: Ali Raoofian is an academic researcher from Amirkabir University of Technology. The author has contributed to research in topics: Parallel manipulator & Stiffness. The author has an hindex of 3, co-authored 4 publications receiving 32 citations.
Papers
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TL;DR: In this article, the authors introduced new performance indices for robotic manipulators in order to evaluate the robot stiffness at the design embodiment stage, based on the calculation of the Cartesian stiffness matrix of a manipulator based on a matrix structural analysis methodology.
30 citations
TL;DR: The modified DeNOC (MDeNOC) method is introduced, inspired by the relation between VSM and ALM, which has the ability of dynamic response and constraint reactions calculations with less preparation effort compared to DeN OC, while its accuracy is similar to Lagrange-VSM.
17 citations
TL;DR: A new way of computing the constraint transfer matrix for the inverse dynamic and joint force analysis of multibody systems is developed using the Newton–Euler method and the screw theory notations by incorporating a unified constrainttransfer matrix for all types of joints.
Abstract: In this paper, a new way of computing the constraint transfer matrix for the inverse dynamic and joint force analysis of multibody systems is developed. The method is based on the Newton–Euler method and the screw theory notations. This method is first developed in (Taghvaeipour et al. in Multibody Syst. Dyn. 29(2):139–168, 2013), however, in this study, it is efficiently modified by incorporating a unified constraint transfer matrix for all types of joints. This change makes both the derivation of the equations and the computations less time consuming. Moreover, in the foregoing procedure, the constraint wrenches of a system are obtained in one reference frame, namely, the global reference frame. As a case study, the proposed method is carried out on the agile wrist which is a three-legged spherical parallel robot with three degrees of freedom. At the end, the results obtained by the modified method are verified with the ones calculated by the original procedure and a software package.
9 citations
TL;DR: In this article , a reduced interface model is proposed for non-smooth mechanical subsystems subjected to unilateral contacts, which can account for contact attachments/detachments during the macro time step which can lead to better functionality and more accurate results.
3 citations
TL;DR: One important aspect of the dynamic performance evaluation of a parallel manipulator is the elastodynamic analysis which calls for the calculation of the stiffness and mass matrices.
Abstract: One important aspect of the dynamic performance evaluation of a parallel manipulator is the elastodynamic analysis which calls for the calculation of the stiffness and mass matrices. In the elastod...
1 citations
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TL;DR: This paper generalizes existing contributions to the stiffness modeling of robotic manipulators using Matrix Structural Analysis and presents a unified and systematic approach that is suitable for serial, parallel and hybrid architectures containing closed-loops, flexible links, and rigid connections, passive and elastic joints, flexible and rigid platforms, taking into account external loadings and preloadings.
64 citations
TL;DR: This work is actually an extension of the previous investigation of the authors, which was restricted to the study of an open kinematic chain, and is the first time that a combination of finite and impulsive constraints in a closed-chain mechanical system has been recursively formulated.
30 citations
TL;DR: In this paper, a multi-objective optimization game algorithm (MOOGA) for parallel manipulators (PMs) is proposed, which considers the volume of the regular cylindrical workspace, motion/force transmission performance, and stiffness performance as objective functions.
26 citations
TL;DR: In this article , the authors present an in-depth, comprehensive, and reasoned overview for the three basic issues of performance optimization of parallel manipulators: performance indices, optimization algorithms, and optimization methods.
24 citations
TL;DR: An adaptive controller is designed for parallel robots based on representation of Jacobian matrix in regressor form, such that asymptotic trajectory tracking is ensured.
21 citations