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Designing, modeling and wrench feasible workspace analysis of a 3D cable suspended robot for heavy loads handling applications
, Article 39th International Symposium on Robotics, ISR 2008, Seoul, 15 October 2008 through 17 October 2008 ; 2008 , Pages 934-939 ; Zohoor, H ; Sharif University of Technology
2008
Abstract
The objective of this paper is designing, modeling and wrench feasible workspace analysis of a 3D cable suspended robot as IRPM (Incompletely Restrained Positioning Mechanism). This type of robots supports a load platform in space by less than or equal to six spatially arranged cables. We use the model of 6 cables spanned in the same manner as a Stewart parallel mechanism. This mechanism is suitable for the accurate positioning of heavy loads. Concentrating on the operations of heavy loads handling, studying the workspace and ways of increasing it is of high importance. Several workspaces exist amongst which the constant and total orientation statically reachable combined and wrench feasible...
Design and implementation of an ultralow-power Ecg patch and smart cloud-based platform
, Article IEEE Transactions on Instrumentation and Measurement ; Volume 71 , 2022 ; 00189456 (ISSN) ; Shayan, M. F ; Vazifeh, A. R ; Rashidi, D ; Hamedani, M. S ; Tavolinejad, H ; Gorji, P ; Razmara, P ; Vaziri, K ; Vashaee, D ; Fakharzadeh, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2022
Abstract
This article reports the development of a new smart electrocardiogram (ECG) monitoring system, consisting of the related hardware, firmware, and Internet of Things (IoT)-based web service for artificial intelligence (AI)-assisted arrhythmia detection and a complementary Android application for data streaming. The hardware aspect of this article proposes an ultralow power patch sampling ECG data at 256 samples/s with 16-bit resolution. The battery life of the device is two weeks per charging, which alongside the flexible and slim (193.7 mm times62.4 mm times8.6 mm) and lightweight (43 g) allows the user to continue real-life activities while the real-time monitoring is being done without...
On the kinematic analysis of a spatial six-degree-of-freedom parallel manipulator
, Article Scientia Iranica ; Volume 16, Issue 1 , 2009 , Pages 1-14 ; 10263098 (ISSN) ; Pendar, H ; Zohoor, H ; Sharif University of Technology
2009
Abstract
In this paper, a novel spatial six-degree-of freedom parallel manipulator actuated by three base-mounted partial spherical actuators is studied. This new parallel manipulator consists of a base platform and a moving platform, which are connected by three legs. Each leg of the manipulator is composed of a spherical joint, prismatic joint and universal joint. The base-mounted partial spherical actuators can only specify the direction of their corresponding legs. In other words, the spin of each leg is a passive degree-of-freedom. The inverse pose and forward pose of the new mechanism are described. In the inverse pose kinematics, active joint variables are calculated with no need for...