Farhad Jafari

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—This paper develops new, analytical methods to find a large class of orthogonal Gough–Stewart platforms (OGSPs) having desired properties at their home position. In contrast, prior methods have been computationally intensive, relying on numerical search techniques. By exploiting symmetry, 27 equations are reduced to only two. The new techniques are(More)
—Development of methods to design optimal Gough–Stewart platform geometries capable of meeting desired specifications is of high interest. Computationally intensive methods have been used to treat this problem in various settings. This paper uses analytic methods to characterize all orthogonal Gough–Stewart platforms (OGSPs) and to study their properties(More)
  • Luis A Caffarelli, Mario Milman, J Robert Dorroh, Gisele Ruiz Goldstein, Jerome A Goldstein, Michael +14 others
  • 2011
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BACKGROUND Sulfur mustard (SM) has been used as a chemical warfare agent since the early twentieth century. Despite the large number of studies that have investigated SM induced ocular injuries, few of those studies have also focused on the psychological health status of victims. This study has evaluated the most prominent influences on the psychological(More)
—Parallel mechanisms frequently possess an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. The determination of unstable singular configurations in parallel robots is challenging, and in the past,(More)