Ghasem Abbasnejad
University of Tehran
16 Papers
50 Citations
Ghasem Abbasnejad is an academic researcher from University of Tehran. The author has contributed to research in topics: Parallel manipulator & Computer science. The author has an hindex of 9, co-authored 16 publications. Previous affiliations of Ghasem Abbasnejad include University of Bologna & The Chinese University of Hong Kong.
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Papers
Direct Geometrico-static Problem of Underconstrained Cable-Driven Parallel Robots With $n$ Cables
TL;DR: This paper studies the direct geometrico-static problem of underconstrained cable-driven parallel robots supported by n cables, with n ≤ 6, and develops a software package which implements an algorithm based on homotopy continuation that finds all problem solutions, including those with slack cables.
Optimum kinematic design of a planar cable-driven parallel robot with wrench-closure gait trajectory
TL;DR: In this paper, a planar cable-driven parallel robot with four cables was designed to generate a wrench-closure trajectory of the lower limb, shank, with applications in gait rehabilitation.
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Inverse Geometrico-Static Analysis of Under-Constrained Cable-Driven Parallel Robots with Four Cables
Marco Carricato,Ghasem Abbasnejad,Dominic R. Walter +2 more
- 01 Jan 2012
TL;DR: In this paper, the inverse geometrico-static analysis of under-constrained cable-driven parallel robots with four cables is presented, where the problem consists in finding all equilibrium configurations of the end-effector when either its orientation or the center-of-mass position is assigned.
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Generalized Ray-Based Lattice Generation and Graph Representation of Wrench-Closure Workspace for Arbitrary Cable-Driven Robots
TL;DR: A new generalized ray-based approach to the generation and representation of the wrench-closure workspace (WCW) for cable-driven robots (CDRs) is presented and a new graph workspace representation is introduced with a range of advantages in the way CDR workspace can be visualized and studied.
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Real solutions of the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables: a numerical investigation
TL;DR: Three numerical approaches are developed, namely a continuation procedure adapted from an algorithm originally proposed by Dietmaier and two evolutionary techniques based on a genetic algorithm and particle swarm optimization, for the direct geometrico-static problem of under-constrained cable-driven parallel robots with 3 cables.
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