Kinematics

Kinematics is a branch of classical mechanics that describes the motion of points, bodies (objects), and systems of bodies (groups of objects) without considering the mass of each of the forces that caused the motion. Kinematics, as a field of study, is often referred to as the "geometry of motion" and is occasionally seen as a branch of mathematics.[4][5][6] A kinematics problem begins by describing the geometry of the system and declaring the initial conditions of any known values of position, velocity and/or acceleration of points within the system. Then, using arguments from geometry, the position, velocity, and acceleration of any unknown parts of the system can be determined. The study of how forces act on masses falls within kinetics. For further details, see analytical dynamics.

Publication

  1. Experimental Analysis of an Optimal Redundancy Resolution Scheme in a Cable-Driven Parallel Robot , In Robotics and Mechatronics (ICROM), 5th RSI International Conference on, IEEE , 2017
  2. Multi-Objective Optimization Design of Spatial Cable-Driven Parallel Robot Equipped with a Serial Manipulator , Modares Mechanical Engineering, Vol. 16, No. 1, pp. 29-40, (in Persian) , 2016
  3. Multi-Criteria Design of 6-DoF Fully-Constrained Cable Driven Redundant Parallel Manipulator , In Robotics and Mechatronics (ICROM), 3rd RSI International Conference on, pp. 001-006, IEEE , 2015
  4. Mechanical Design, Fabrication, Kinematic and Dynamic Modeling, Multiple Impedance Control of a Wrist Rehabilitation Robot , In Robotics and Mechatronics (ICROM), 3rd RSI International Conference on, pp. 290-295, IEEE , 2015

Research Experience

  1. Modelling, Fabrication, and Impedance Control of a Wrist Rehabilitation Robot , Center of Excellence in Design, Robotics, and Automation, Sharif University of Technology, Tehran (Iran) , 2017
  2. Multiple Impedance Control of Hybrid Parallel-Serial Manipulator for Object Manipulation Task , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2016
  3. Modelling, Designing, Manufacturing and Controlling an Industrial 6 DoF Serial Robotic Arm , Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran) , 2014
  4. Kinematics, Dynamics Model and Nonlinear Control of a (Stewart-Gough) 6RUS Parallel Robot , Faculty of Electrical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2014
  5. Forward Kinematic and Dynamic Equation Modelling of a Surgical Robotic Arm , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2014
  6. Joint Space Energy Optimization of Tethered Space Robot for End-Effector Optimal Path , Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran) , 2013
  7. Analysis of Body Angle Parameter Effect and Stable Path Planning of 2 Legged Robot (Biped) , Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran) , 2012