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    Mechanical Design Process for the Zippy Wrist 

    Type: Conference Paper
    Author : سیدنوید مه پیکر; جواد انفرادی; علیرضا اکبرزاده توتونچی; Seyed Navid Mahpeykar; Javad Enferadi; Alireza Akbarzadeh Tootoonchi
    Year: 2010
    Abstract:

    Zippy Wrist is a 3-RRP spherical parallel manipulator and can perform many industrial applications such as; orienting a tool or a workpiece in machine tools, solar panels, space antennas and telescopic mechanisms, flight ...

    A Method for Solving Dynamic Equations of a 3-PRR Parallel Robot 

    Type: Journal Paper
    Author : سیدنادر نبوی; علیرضا اکبرزاده توتونچی; سعید ابوالقاسمی; nader nabavi; Alireza Akbarzadeh Tootoonchi; saeed abolghasemi
    Year: 2012
    Abstract:

    In this paper, kinematic relationships for a 3-PRR planar parallel robot are first presented. The robot dynamics equations are formulated using Lagrange equations of first kind. The derived equations are a mixed set of differential and algebraic...

    An Investigation on Stiffness Analysis of a 3-PSP Spatial Parallel Mechanism with Flexible Moving Platform Using Invariant Form 

    Type: Journal Paper
    Author : امیر رضائی; علیرضا اکبرزاده توتونچی; محمدرضا اکبرزاده توتونچی; Amir Rezaei; Alireza Akbarzadeh Tootoonchi; Mohammad Reza Akbarzadeh Totonchi
    Year: 2012
    Abstract:

    In this paper, the stiffness of a 3-PSP spatial parallelmanipulator is investigated. Unlike traditional

    stiffness analysis, themoving platformis assumed to be flexible. Two analytical methods are used

    in ...

    Implementing the homotopy continuation method in a hybrid approach to solve the kinematics problem of spatial parallel robots 

    Type: Journal Paper
    Author : سیدناصر مستشیری; علیرضا اکبرزاده توتونچی; امیر رضایی; Seyednaser Mostashiri; Alireza Akbarzadeh Tootoonchi; Amir Rezaei
    Year: 2017
    Abstract:

    In this paper, first the application of Homotopy Continuation Method (HCM) in numerically solving kinematics problem of spatial parallel manipulators is investigated. Using the HCM the forward kinematics problem (F-Kin) ...

    Isotropy design and optimization of a planar parallel manipulator with combination of Fuzzy Logic and Genetic Algorithm 

    Type: Conference Paper
    Author : حمیدرضا کردجزی; علیرضا اکبرزاده توتونچی; علی شکوهی رستمی; Alireza Akbarzadeh Tootoonchi; ALI SHOKOUHI ROSTAMI
    Year: 2009
    Abstract:

    In an isotropic configuration, the sensitivity of a manipulator in both velocity and torque errors is at a minimum and the manipulator can be controlled equally well in all directions. If the Jacobian matrix is isotropic ...

    FL-GA method for optimization of 3PRR planar parallel manipulator for a prescribed workspace 

    Type: Conference Paper
    Author : حمیدرضا کردجزی; علیرضا اکبرزاده توتونچی; محمدرضا اکبرزاده توتونچی; Alireza Akbarzadeh Tootoonchi; Mohammad Reza Akbarzadeh Totonchi
    Year: 2009
    Abstract:

    Manipulator design can be expressed as a function of workspace requirements. This work presents a hybrid fuzzy logic - genetic algorithm (FL-GA) method for optimization and dimensional synthesis of a 3PRR (prismatic- ...

    Position and stiffness analysis of a new asymmetric 2PRR–PPR parallel CNC machine 

    Type: Journal Paper
    Author : امیر رضائی; علیرضا اکبرزاده توتونچی; Amir Rezaei; Alireza Akbarzadeh Tootoonchi
    Year: 2013
    Abstract:

    In this paper, structural stiffness analysis of a new 3-axis asymmetric planar parallel manipulator, a 2 P RR–P P R structural kinematic chain, is investigated. The manipulator is proposed as a tool holder for a 5-axis ...

    A Strategy Based on Grey Relational Grade for Fuzzy Coalition Formulation 

    Type: Conference Paper
    Publisher: IEEE
    Year: 2014

    Position tracking of a 3-PSP parallel robot using dynamic growing interval type-2 fuzzy neural control 

    Type: Journal Paper
    Author : شیرین فرتاش طلوع; محمدرضا اکبرزاده توتونچی; علیرضا اکبرزاده توتونچی; محسن جلائیان فریمانی; Shirin Fartash Toloue; Mohammad Reza Akbarzadeh Totonchi; Alireza Akbarzadeh Tootoonchi; Mohsen JalaeianFarimani
    Year: 2015
    Abstract:

    Parallel robots have complicated structures as well as complex dynamic and kinematic equations, render-ing model-based control approaches as ineffective due to their high computational cost and low accuracy.Here, we propose a model-free dynamic...

    Robust adaptive mixed H2/H interval type-2 fuzzy control of nonlinear uncertain systems with minimal control effort 

    Type: Journal Paper
    Author : فهیمه باغبانی; محمدرضا اکبرزاده توتونچی; علیرضا اکبرزاده توتونچی; سید مصطفی قائمی; fahimeh baghbani; Mohammad Reza Akbarzadeh Totonchi; Alireza Akbarzadeh Tootoonchi; Mostafa Ghaemi
    Year: 2016
    Abstract:

    that could not be precisiated, leading to improved error performance. Several simulation studies, with or without disturbance and noisy measurements, as well as actual experimental implementation on a 3-PSP (prismatic-spherical-prismatic) parallel robot...

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