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Spherical Parallel Robot (SPR) is a complex but widely used type of manipulators that performs only rotational motion. Dynamic analysis of SPR has a vital role in mechanical design, model-based controller, identification and fault detection of such robots. Complexity of SPR kinematic structure makes traditional dynamic modeling methods such as Newton-Euler,(More)
This paper is devoted to dynamic formulation and motion control of a planar PRP parallel robot. Three intersecting rod comprises the manipulator of the mechanism which are fixed to each other and are coupled pivotedly to linear guides at the free ends. by actuating any of the linear guides along the sides of a triangle individually, the planar motion of the(More)
New technological progress in robotics has brought many beneficial clinical applications. Currently, computer integrated robotic surgery has gained clinical acceptance for several surgical procedures. Robotically assisted eye surgery is envisaged as a promising solution to overcome the shortcomings inherent to conventional surgical procedures as in(More)
Colloidal aphrons are multi-layered stable bubbles (CGAs) or droplets (CLAs), surrounded by a thin surfactant film. The small size of the aphrons creates a system with a high interfacial area which can be pumped like water without collapsing. The high stability of colloidal aphrons due to a thin soapy shell surrounding the core, and high interfacial area(More)
In this study chitosan/halloysite nanotube composite (CS/HNT) coatings were deposited by electrophoretic deposition (EPD) on titanium substrate. Using HNT particles were investigated as new substituents for carbon nanotubes (CNTs) in chitosan matrix coatings. The ability of chitosan as a stabilizing, charging, and blending agent for HNT particles was(More)
Hydatid cyst caused by Echinococcus granulosus demonstrates an endemic infection in several countries such as Middle Eastern countries. Liver is the most frequently involved organ, followed by the lung. The case we present is solitary primary localization of cyst in abdominal wall which is extremely rare. A 57-year-old woman presented with an abdominal wall(More)
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