Serial Robot

Serial manipulators are the most common industrial robots. They are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. Often they have an anthropomorphic arm structure described as having a "shoulder", an "elbow", and a "wrist".
Serial robots usually have six joints, because it requires at least six degrees of freedom to place a manipulated object in an arbitrary position and orientation in the workspace of the robot.
A popular application for serial robots in today's industry is the pick-and-place assembly robot, called a SCARA robot, which has four degrees of freedom.

Research Experience

  1. Modelling, Designing, Manufacturing and Controlling an Industrial 6 DoF Serial Robotic Arm , Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan (Iran) , 2014
  2. Modelling, Nonlinear and Impedance Control of a 7 DoF Serial Manipulator , Department of Mechanical Engineering, K.N. Toosi University of Technology (KNTU), Tehran (Iran) , 2014
  3. 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
  4. 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