Hamidreza Mohammadi Daniali Articles List

List of Articles Hamidreza Mohammadi Daniali

Open Access Article
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1 - Machine Tool Design Optimization of High Resolution Parallel Hexapod in Cartesian Workspace
Mir Amin Hosseini HamidReza Mohammadi Daniali

In the research, six degrees of freedom Hexapod parallel machine tool is studied and investigated. Jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on Jacobian matrix More

In the research, six degrees of freedom Hexapod parallel machine tool is studied and investigated. Jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on Jacobian matrix. Geometric parameters of Cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, and implementing Genetic Algorithm in MATLAB software workspace. For the manipulator workspace, isotropy indices, minimum and maximum singular values are calculated. The optimization operation has lead to two different designs of manipulators, namely the isotropic design, and high resolution Cartesian workspace. Manuscript profile
Open Access Article
- Abstract Page
- Full-Text
2 - Trajectory Path Planning of Cable Driven Parallel Manipulators, Considering Masses and Flexibility of the Cables
Sobhan Sohrabi H. R. Mohammadi Daniali A. R. Fathi

Cable driven parallel manipulator (CDPM) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. It is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manip More

Cable driven parallel manipulator (CDPM) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. It is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span CDPM. These terms complicate governing equation of motion in a way that special tactic are applied for simulation and solving this problem. Flexibility and mass of cables impose vibration and error in path trajectory planning. Effect of varying stiffness in precise performance of CDPM is surveyed. The cables are modelled, in ADAMS software to illustrate the dynamical behaviours of the manipulator for comparison with the simulated results. Moreover, an algorithm is developed to study the effects of velocity and acceleration of the end-effector on the dynamics of CDPMs. Moreover it is shown that the evolutionary computing algorithms are so effective in solving complicated nonlinear dynamic path trajectory planning. Simulations for different trajectories of two CDPMs are included to demonstrate the efficiency of the proposed algorithm. Manuscript profile

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List of Articles Hamidreza Mohammadi Daniali