Mehdi Tale Masouleh

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The kinematic sensitivity is a unit-consistent measure that has been recently proposed as a mechanism performance index to compare robot architectures. This paper presents a robust geometric approach for computing this index for the case of planar parallel mechanisms. The physical meaning of the kinematic sensitivity is investigated through different(More)
This paper presents a new approach for the dynamic modeling of a 3-degree-of-freedom parallel manipulator, called the Tripteron. The reasoning used in this paper is based on a judicious concept in detaching the whole mechanism into several subsystems and consecutive synergies between kinematic analysis, Lagrangian and Newtonian approaches. In this regard,(More)
This paper is a contribution to an invited session on the benchmarking of parallel mechanisms. The aim of the session is to compare different existing designs and prototypes of parallel mechanisms using a common set of benchmarking criteria. First, the kinematic architectures of parallel mechanisms of the multipteron family are presented. In addition to the(More)
When an assistant robotic manipulator cooperatively performs a task with a human and the task is required to be highly reliable, then fault tolerance is essential. To achieve the fault tolerance force within the human robot cooperation, it is required to map the effects of the faulty joint of the robot into the manipulator's healthy joints' torque space and(More)
This paper deals with the singularity analysis of four degrees of freedom parallel manipulators with identical limb structures performing Schönflies motions, namely, three independent translations and one rotation about an axis of fixed direction. The 666 Jacobian matrix of such manipulators contains two lines at infinity among its six Plücker vectors. Some(More)
In this paper, a novel robust adaptive control design for a general class of Single-Input Single-Output (SISO) nonlinear time-varying systems is delineated. To this end, for a ball handling mechanism, a systematic approach is presented to modify solutions of the arm target angle tracking problem in this robot. Initially, a virtual model of simplified ball(More)
This paper investigates the design, dynamics, and control of a two Degrees-of-Freedom (DOFs) spherical Parallel Mechanism (PM) that was first built at Laval university. The geometric and inertial parameters of the model are obtained via a CAD software in order to reduce the weight and also to avoid the interference between the two limbs movements. The(More)
In this paper, fault-tolerant control of redundant planar serial manipulators has been investigated experimentally via an offline method called psuedo-inverse reconfiguration method. Minimizing the end-effector's velocity jump via an optimal mapping of joint failures into healthy joints velocity space can be regarded as the main contribution of this(More)
The main concern of this paper consists in dynamic identification of the so-called “Novint Falcon” parallel Haptic device. In this regard, a precise CAD model of the under study robot is designed and dynamic properties of its constituting parts are assigned to the model. Using a white box identification procedure, the unknown parameters in(More)