Browsing by Author "Saadat, Mozafar"

Now showing 1 - 2 of 2
  • Thumbnail Image
    ItemOpen Access
    Free singularity path planning of hybrid parallel robot
    (Cranfield University Press, 2013-09-19) Rakhodaei, Hamid; Rastegarpanah, Alireza; Ding, Chengjian; Saadat, Mozafar
    This paper presents a singularity-free path planning approach for a hybrid parallel robot. The hybrid robot is composed of two well-known parallel robots, a hexapod and a tripod, that are serially connected. In this paper a methodology is developed to avoid singularity configurations of the hybrid parallel robot. Nominal polynomial paths are used for motion of end effector, and the strokes of each actuator is calculated by using the developed inverse kinematic. A MATLAB program has been developed to generate the designed paths, and several poses have been tested in a CAD model of the hybrid parallel robot to validate the feasibility of the path planning approach.
  • Thumbnail Image
    ItemOpen Access
    A modified AHP algorithm for network selection
    (Cranfield University Press, 2013-09-19) Huang, Xin; Jules, Guiovanni; Saadat, Mozafar; Rakhodaei, Hamid
    This paper addresses the concept of ranking networks to the multiple criteria of customers to find the best and alternative networks. The use of modified AHP algorithm has been shown to provide better network ranking for reasonable customer objectives than the traditional AHP method. Both the traditional method and the proposed method produced results subjective to the customer requirements. However, the proposed method is more intuitive to the customers through direct capture of their exact requirements rather than an interpretation of their requirements through pair-wise comparison alone. Also, the proposed method is less time-consuming and results are of higher quality.