Parallel Robot

A parallel manipulator is a mechanical system that uses several computer-controlled serial chains to support a single platform or end-effector. Perhaps, the best known parallel manipulator is formed from six linear actuators that support a movable base for devices such as flight simulators. This device is called a Stewart platform or the Gough-Stewart platform in recognition of the engineers who first designed and used them.

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. Sensory Feedback Performance Improvement on RoboCab: An Experimental Approach to Wire Driven Parallel Robot , In Robotics and Mechatronics (ICROM), 4th RSI International Conference on, p. 477-482, IEEE , 2016
  3. Visual Servoing in a Cable Robot Using Microsoft Kinect v2 Sensor , In Robotics and Mechatronics (ICROM), 4th RSI International Conference on, ICRoM, pp. 560-565, IEEE , 2016
  4. 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
  5. 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
  6. Time Optimized Digital Image Processing of Ball and Plate System Using Artificial Neural Network , In Robotics and Mechatronics (ICROM), 3rd RSI International Conference on, pp. 146-151, IEEE , 2015

Research Experience

  1. Design and Control Analysis of Cable Parallel Robot Simulator , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2016
  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. Linear, Nonlinear, Robust and Adaptive Control of a 3 DoF Cable Driven Parallel Robot , Faculty of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2015
  4. Dynamic Modeling and Control of Parallel Robots Presentation , Faculty of Electrical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2014
  5. 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

Invention/Patent

  1. RoboCab: Cable Driven Parallel Robot , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Isfahan (Iran) , 2016
  2. Stewart Gough Platform Prototype , Faculty of Electrical Engineering, K.N. Toosi University of Technology (KNTU), Isfahan (Iran) , 2014