Ali Nazari - Academia.edu (original) (raw)

Papers by Ali Nazari

Research paper thumbnail of Boroaluminosilicate geopolymers: role of NaOH concentration and curing temperature

RSC Adv., 2015

Boroaluminosilicate geopolymers from a fly-ash source have a variety of microstructures. This may... more Boroaluminosilicate geopolymers from a fly-ash source have a variety of microstructures. This may be due to different mechanisms of geopolymerization.

Research paper thumbnail of Sparse Deep LSTMs with Convolutional Attention for Human Action Recognition

SN Computer Science

Deep learning has recently gained remarkable results in action recognition. In this paper, an arc... more Deep learning has recently gained remarkable results in action recognition. In this paper, an architecture is proposed for action recognition, including ResNet feature extractor, Conv-Attention-LSTM, BiLSTM, and fully connected layers. Furthermore, a sparse layer after each LSTM layer is added to overcome overfitting. In addition to RGB images, optical flow is also used to incorporate motion information into our architecture. Due to similarities of consecutive frames, video sequences are divided into equal parts. Frames of successive parts are used as consecutive frames to obtain the flow. Furthermore, to find the significant regions, the convolutional attention network is applied. The proposed method is evaluated using two popular datasets, UCF-101, and HMDB-51 and its accuracy for these datasets is 95.24 and 71.62, respectively. Overfitting is reduced due to using a sparse layer instead of a dropout based on the results achieved. Moreover, a deep LSTM network leads to a higher recognition rate than one-layer LSTM.

Research paper thumbnail of Investigation of Welfare Effects Distribution of Exempt Goods and Services List Changes in Iran VAT System

Quarterly Journal of Economic Research and Policies

Research paper thumbnail of Efficiency of Different Superplasticizers and Retarders on Properties of ‘One-Part’ Fly Ash-Slag Blended Geopolymers with Different Activators

Materials

Currently, there are a very limited number of studies on the effect of admixtures on properties o... more Currently, there are a very limited number of studies on the effect of admixtures on properties of ‘one-part’ geopolymers. This paper reports the effects of different superplasticizers and retarders on fresh and hardened properties of one-part fly ash-slag blended geopolymers made by different solid activators. Two different grades of sodium silicate, namely anhydrous sodium metasilicate powder (nSiO2/nNa2O = 0.9) and GD Grade sodium silicate powder (nSiO2/nNa2O = 2.0) were used as the solid activators. Five different commercially available superplasticizers, including three modified polycarboxylate-based superplasticizers (denoted as PC1, PC2, and PC3) and two naphthalene-based superplasticizers (denoted as N1 and N2), as well as three different retarders, including sucrose, anhydrous borax and a commercially available retarder, were investigated. Workability, setting time and compressive strength of the mixtures without and with addition of each ‘individual’ admixture were measure...

Research paper thumbnail of RETRACTED: The Effects of TiO2 Nanoparticles on Flexural Damage of Self-compacting Concrete

International Journal of Damage Mechanics

ABSTRACT

Research paper thumbnail of Prediction of the effects of nanoparticles on early-age compressive strength of ash-based geopolymers by fuzzy logic

International Journal of Damage Mechanics

ABSTRACT In the present work, compressive strength of ash-based geopolymers with different mixtur... more ABSTRACT In the present work, compressive strength of ash-based geopolymers with different mixtures of % rice husk ash, fly ash, nano alumina and nano silica has been predicted by fuzzy logic. The alkali activating was done by a mixture of sodium hydroxide and sodium silicate solution. It was found that oven curing temperature and sodium hydroxide concentration together with SiO2 nanoparticles has the main effects on compressive strength of the specimens. The fuzzy logic model was constructed by 12 input parameters including the water curing time, the rice husk ash content, the fly ash content, the water glass content, sodium hydroxide content, the water content, the aggregate content, SiO2 nanoparticles content, Al2O3 nanoparticles content, oven curing temperature, oven curing time and test trial number. The value for the output layer was the compressive strength. According to the input parameters in fuzzy model, the input data were trained, validated and tested. The results indicate that fuzzy model is a powerful tool for predicting the effect of nanoparticles on compressive strength of the geopolymers in the considered range.

Research paper thumbnail of Optimizing Mechanical Properties of Binary Blended Concrete Utilizing CuO Nanoparticles

International Journal of Damage Mechanics

Abstract Mechanical properties of concrete specimens containing CuO nanoparticles which were cure... more Abstract Mechanical properties of concrete specimens containing CuO nanoparticles which were cured in saturated limewater have been optimized. CuO nanoparticles were partially added to concrete as nano-fillers. The specimens were cured in water and saturated ...

Research paper thumbnail of Physical, mechanical and thermal properties of concrete in different curing media containing Zn02 nanoparticles

Energy and Buildings, 2011

ABSTRACT

Research paper thumbnail of A New Upper Bound on the Average Error Exponent for Multiple-Access Channels

Corr, Oct 7, 2010

A new lower bound for the average probability or error for a two-user discrete memoryless (DM) mu... more A new lower bound for the average probability or error for a two-user discrete memoryless (DM) multiple-access channel (MAC) is derived. This bound has a structure very similar to the well-known sphere packing packing bound derived by Haroutunian. However, since explicitly imposes independence of the users' input distributions (conditioned on the time-sharing auxiliary variable) results in a tighter sphere-packing exponent in comparison to Haroutunian's. Also, the relationship between average and maximal error probabilities is studied. Finally, by using a known sphere packing bound on the maximal probability of error, a lower bound on the average error probability is derived.

Research paper thumbnail of Evaluation of the Analgesic Effects of Teucrium Extract on Rats using the Formalin Test

ABSTRACT BACKGROUND AND OBJECTIVE: Pain is the most frequent symptom in different diseases. In mo... more ABSTRACT BACKGROUND AND OBJECTIVE: Pain is the most frequent symptom in different diseases. In modern medicine, there are two main categories of analgesics: opioids and non-steroidal anti-inflammatory drugs (NSAIDs). Given the importance of medicinal plants in the treatment of different diseases, this study aimed to compare the analgesic effects of the alcoholic extract of Teucrium with morphine and aspirin. METHODS: In this experimental study, 36 Wistar rats were randomly divided into six groups of 6. The negative control group received normal saline (5 ml/kg), two positive control groups received morphine 2.5 mg/kg and aspirin 300 mg/kg, and three treatment groups received hydro-alcoholic extract of Teucrium (100, 200 and 400 mg/kg) intraperitoneally in single doses. Half an hour after the intraperitoneal injection of the extract, 50 microlitres of 2.5% formalin was injected subcutaneously into the right paw of the rats, and the analgesic effects were compared using the formalin t...

Research paper thumbnail of VNN Final Research Project Report

Viral Nervous Necrosis (VNN) is a worldwide disease affecting several species of cultured marine ... more Viral Nervous Necrosis (VNN) is a worldwide disease affecting several species of cultured marine fish. For the past two decades, betanodavirus infections that cause Viral Nervous Necrosis (VNN) have emerged as major constraints on the culture and sea ranching of marine fish in almost all parts of the world. More than forty species mainly of marine origin have been so far affected and this number is likely to rise in future following the introduction of new species and the increase of aquaculture trade.

Research paper thumbnail of Modeling of Compressive Strength of Geopolymers by a Hybrid ANFIS-ICA Approach

Journal of Materials in Civil Engineering, 2015

AbstractA hybrid adaptive neuro-fuzzy interfacial systems–imperialist competitive algorithm (ANFI... more AbstractA hybrid adaptive neuro-fuzzy interfacial systems–imperialist competitive algorithm (ANFIS-ICA) was presented to determine the effect of concentration of alkali solution, alkali binder to alkali solution weight ratio, alkali activator to ordinary portland cement (OPC) weight ratio, oven curing temperature, and age of curing on the compressive strength of OPC-based geopolymers. Optimization of the type and number of membership functions was carried out by ICA while the training, testin,g and validating of the collected data sets was conducted by ANFIS. The obtained results indicated that the proposed ANFIS-ICA model is capable to predict the compressive strength of geopolymeric specimens well and suitably determine the effect of each parameter on this property. A parametric study is presented to show the effect of each parameter predicted by the model on compressive strength of the specimens.

Research paper thumbnail of RETRACTED: Strength Assessment and Bonding Study of Aluminum Short Fiber-Reinforced Gypsum Composites

International Journal of Damage Mechanics, 2011

In this study, tensile strength of gypsum-based composite with aluminum fibers up to 15 vol.% was... more In this study, tensile strength of gypsum-based composite with aluminum fibers up to 15 vol.% was studied. To increase the interfacial bond strength between fibers and matrix, aluminum fibers were anodized under different conditions. Single fiber pull-out tests were carried out to investigate the bond strength. The interface was examined by scanning electron microscope. The ability of the composites to

Research paper thumbnail of Modeling Impact Energy of Functionally Graded Steels in Crack Divider Configuration Using Modified Stress-Strain Curve Data

International Journal of Damage Mechanics, 2011

ABSTRACT: Charpy impact energy of functionally graded steels produced by elec-troslag remelting c... more ABSTRACT: Charpy impact energy of functionally graded steels produced by elec-troslag remelting composed of graded ferritic and austenitic layers together with bainite or martensite intermediate layer in crack divider configuration has been modeled. From load—displacement curves ...

Research paper thumbnail of Prediction of martensite fraction of microalloyed steel by artificial neural networks

Neural Network World, 2013

The final microstructure and resulting mechanical properties in the linepipe steels are predomina... more The final microstructure and resulting mechanical properties in the linepipe steels are predominantly determined by austenite decomposition during cooling after thermomechanical and welding processes. The paper presents some results of the research connected with the development of a new approach based on the artificial neural network to predicting the martensite fraction of the phase constituents occurring in five microalloyed steels after continuous cooling. The independent variables in the model are chemical compositions, niobium condition, austenitizing temperature, initial austenite grain size and cooling rate over the temperature range of the occurrence of phase transformations. For the purpose of constructing these models, 104 different experimental data were gathered from the literature. According to the input parameters in feedforward backpropagation algorithm, the constructed networks were trained, validated and tested. In this model, the training and testing results in the artificial neural network have shown a strong potential for prediction of effects of chemical compositions and heat treatments on phase transformation of microalloyed steels.

Research paper thumbnail of New bounds on the maximal error exponent for multiple-access channels

2009 IEEE International Symposium on Information Theory, 2009

The problem of bounding the reliability function of a multiple-access channel (MAC) is studied. A... more The problem of bounding the reliability function of a multiple-access channel (MAC) is studied. An upper bound on the minimum Bhattacharyya distance between codeword pairs is derived. For a certain large class of two-user discrete memoryless (DM) MAC, a lower bound on the maximal probability of decoding error is derived as a consequence of the upper bound on Bhattacharyya distance. Further, an upper bound on the average probability of decoding error is studied. It is shown that the corresponding upper and lower bounds have a similar structure. Using a conjecture about the structure of the multiuser code, a tighter lower bound for the maximal probability of decoding error is derived and is shown to be tight at zero rates.

Research paper thumbnail of Analytical investigations and fuzzy logic-based modeling of the impact resistance of aluminum-epoxy laminated composites

Science China Technological Sciences, 2011

Abstract In the present paper, Charpy impact resistance of aluminum-epoxy laminated composites in... more Abstract In the present paper, Charpy impact resistance of aluminum-epoxy laminated composites in both crack divider and crack arrester configurations has been investigated. In both configurations, an analytical investigation has been carried out to evaluate the effects ...

Research paper thumbnail of Production geopolymers by Portland cement: Designing the main parameters’ effects on compressive strength by Taguchi method

Materials & Design, 2012

In the present study, Taguchi method was utilized to design compressive strength tests of geopoly... more In the present study, Taguchi method was utilized to design compressive strength tests of geopolymers produced by Portland cement as aluminosilicate source. Six main factors including NaOH concentration, water glass to NaOH weight ratio, alkali activator to cement ...

Research paper thumbnail of Microhardness profile prediction of functionally graded steels by artificial neural networks

International Journal of Damage Mechanics, 2012

ABSTRACT

Research paper thumbnail of Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013

This article presents a novel 3-DOF parallel manipulator extracted from an origami fold in the co... more This article presents a novel 3-DOF parallel manipulator extracted from an origami fold in the context of mechanisms. The parallel manipulator consists of a base, a platform and four chain-legs that connect the platform to base through revolute joints. Each chain-leg contains a closed-loop sub-chain, which is spherical 6R linkage with symmetrical angle lengths. The geometry of the parallel manipulator is revealed according to the configuration design and specifics of the origami fold. This leads to unravelling of the symmetric plane which is determined by the common points of spherical 6R linkages in the four chain-legs. Based on geometric approach, the solutions for both inverse and forward kinematics are derived and the reachable workspace is then analyzed.

Research paper thumbnail of Boroaluminosilicate geopolymers: role of NaOH concentration and curing temperature

RSC Adv., 2015

Boroaluminosilicate geopolymers from a fly-ash source have a variety of microstructures. This may... more Boroaluminosilicate geopolymers from a fly-ash source have a variety of microstructures. This may be due to different mechanisms of geopolymerization.

Research paper thumbnail of Sparse Deep LSTMs with Convolutional Attention for Human Action Recognition

SN Computer Science

Deep learning has recently gained remarkable results in action recognition. In this paper, an arc... more Deep learning has recently gained remarkable results in action recognition. In this paper, an architecture is proposed for action recognition, including ResNet feature extractor, Conv-Attention-LSTM, BiLSTM, and fully connected layers. Furthermore, a sparse layer after each LSTM layer is added to overcome overfitting. In addition to RGB images, optical flow is also used to incorporate motion information into our architecture. Due to similarities of consecutive frames, video sequences are divided into equal parts. Frames of successive parts are used as consecutive frames to obtain the flow. Furthermore, to find the significant regions, the convolutional attention network is applied. The proposed method is evaluated using two popular datasets, UCF-101, and HMDB-51 and its accuracy for these datasets is 95.24 and 71.62, respectively. Overfitting is reduced due to using a sparse layer instead of a dropout based on the results achieved. Moreover, a deep LSTM network leads to a higher recognition rate than one-layer LSTM.

Research paper thumbnail of Investigation of Welfare Effects Distribution of Exempt Goods and Services List Changes in Iran VAT System

Quarterly Journal of Economic Research and Policies

Research paper thumbnail of Efficiency of Different Superplasticizers and Retarders on Properties of ‘One-Part’ Fly Ash-Slag Blended Geopolymers with Different Activators

Materials

Currently, there are a very limited number of studies on the effect of admixtures on properties o... more Currently, there are a very limited number of studies on the effect of admixtures on properties of ‘one-part’ geopolymers. This paper reports the effects of different superplasticizers and retarders on fresh and hardened properties of one-part fly ash-slag blended geopolymers made by different solid activators. Two different grades of sodium silicate, namely anhydrous sodium metasilicate powder (nSiO2/nNa2O = 0.9) and GD Grade sodium silicate powder (nSiO2/nNa2O = 2.0) were used as the solid activators. Five different commercially available superplasticizers, including three modified polycarboxylate-based superplasticizers (denoted as PC1, PC2, and PC3) and two naphthalene-based superplasticizers (denoted as N1 and N2), as well as three different retarders, including sucrose, anhydrous borax and a commercially available retarder, were investigated. Workability, setting time and compressive strength of the mixtures without and with addition of each ‘individual’ admixture were measure...

Research paper thumbnail of RETRACTED: The Effects of TiO2 Nanoparticles on Flexural Damage of Self-compacting Concrete

International Journal of Damage Mechanics

ABSTRACT

Research paper thumbnail of Prediction of the effects of nanoparticles on early-age compressive strength of ash-based geopolymers by fuzzy logic

International Journal of Damage Mechanics

ABSTRACT In the present work, compressive strength of ash-based geopolymers with different mixtur... more ABSTRACT In the present work, compressive strength of ash-based geopolymers with different mixtures of % rice husk ash, fly ash, nano alumina and nano silica has been predicted by fuzzy logic. The alkali activating was done by a mixture of sodium hydroxide and sodium silicate solution. It was found that oven curing temperature and sodium hydroxide concentration together with SiO2 nanoparticles has the main effects on compressive strength of the specimens. The fuzzy logic model was constructed by 12 input parameters including the water curing time, the rice husk ash content, the fly ash content, the water glass content, sodium hydroxide content, the water content, the aggregate content, SiO2 nanoparticles content, Al2O3 nanoparticles content, oven curing temperature, oven curing time and test trial number. The value for the output layer was the compressive strength. According to the input parameters in fuzzy model, the input data were trained, validated and tested. The results indicate that fuzzy model is a powerful tool for predicting the effect of nanoparticles on compressive strength of the geopolymers in the considered range.

Research paper thumbnail of Optimizing Mechanical Properties of Binary Blended Concrete Utilizing CuO Nanoparticles

International Journal of Damage Mechanics

Abstract Mechanical properties of concrete specimens containing CuO nanoparticles which were cure... more Abstract Mechanical properties of concrete specimens containing CuO nanoparticles which were cured in saturated limewater have been optimized. CuO nanoparticles were partially added to concrete as nano-fillers. The specimens were cured in water and saturated ...

Research paper thumbnail of Physical, mechanical and thermal properties of concrete in different curing media containing Zn02 nanoparticles

Energy and Buildings, 2011

ABSTRACT

Research paper thumbnail of A New Upper Bound on the Average Error Exponent for Multiple-Access Channels

Corr, Oct 7, 2010

A new lower bound for the average probability or error for a two-user discrete memoryless (DM) mu... more A new lower bound for the average probability or error for a two-user discrete memoryless (DM) multiple-access channel (MAC) is derived. This bound has a structure very similar to the well-known sphere packing packing bound derived by Haroutunian. However, since explicitly imposes independence of the users' input distributions (conditioned on the time-sharing auxiliary variable) results in a tighter sphere-packing exponent in comparison to Haroutunian's. Also, the relationship between average and maximal error probabilities is studied. Finally, by using a known sphere packing bound on the maximal probability of error, a lower bound on the average error probability is derived.

Research paper thumbnail of Evaluation of the Analgesic Effects of Teucrium Extract on Rats using the Formalin Test

ABSTRACT BACKGROUND AND OBJECTIVE: Pain is the most frequent symptom in different diseases. In mo... more ABSTRACT BACKGROUND AND OBJECTIVE: Pain is the most frequent symptom in different diseases. In modern medicine, there are two main categories of analgesics: opioids and non-steroidal anti-inflammatory drugs (NSAIDs). Given the importance of medicinal plants in the treatment of different diseases, this study aimed to compare the analgesic effects of the alcoholic extract of Teucrium with morphine and aspirin. METHODS: In this experimental study, 36 Wistar rats were randomly divided into six groups of 6. The negative control group received normal saline (5 ml/kg), two positive control groups received morphine 2.5 mg/kg and aspirin 300 mg/kg, and three treatment groups received hydro-alcoholic extract of Teucrium (100, 200 and 400 mg/kg) intraperitoneally in single doses. Half an hour after the intraperitoneal injection of the extract, 50 microlitres of 2.5% formalin was injected subcutaneously into the right paw of the rats, and the analgesic effects were compared using the formalin t...

Research paper thumbnail of VNN Final Research Project Report

Viral Nervous Necrosis (VNN) is a worldwide disease affecting several species of cultured marine ... more Viral Nervous Necrosis (VNN) is a worldwide disease affecting several species of cultured marine fish. For the past two decades, betanodavirus infections that cause Viral Nervous Necrosis (VNN) have emerged as major constraints on the culture and sea ranching of marine fish in almost all parts of the world. More than forty species mainly of marine origin have been so far affected and this number is likely to rise in future following the introduction of new species and the increase of aquaculture trade.

Research paper thumbnail of Modeling of Compressive Strength of Geopolymers by a Hybrid ANFIS-ICA Approach

Journal of Materials in Civil Engineering, 2015

AbstractA hybrid adaptive neuro-fuzzy interfacial systems–imperialist competitive algorithm (ANFI... more AbstractA hybrid adaptive neuro-fuzzy interfacial systems–imperialist competitive algorithm (ANFIS-ICA) was presented to determine the effect of concentration of alkali solution, alkali binder to alkali solution weight ratio, alkali activator to ordinary portland cement (OPC) weight ratio, oven curing temperature, and age of curing on the compressive strength of OPC-based geopolymers. Optimization of the type and number of membership functions was carried out by ICA while the training, testin,g and validating of the collected data sets was conducted by ANFIS. The obtained results indicated that the proposed ANFIS-ICA model is capable to predict the compressive strength of geopolymeric specimens well and suitably determine the effect of each parameter on this property. A parametric study is presented to show the effect of each parameter predicted by the model on compressive strength of the specimens.

Research paper thumbnail of RETRACTED: Strength Assessment and Bonding Study of Aluminum Short Fiber-Reinforced Gypsum Composites

International Journal of Damage Mechanics, 2011

In this study, tensile strength of gypsum-based composite with aluminum fibers up to 15 vol.% was... more In this study, tensile strength of gypsum-based composite with aluminum fibers up to 15 vol.% was studied. To increase the interfacial bond strength between fibers and matrix, aluminum fibers were anodized under different conditions. Single fiber pull-out tests were carried out to investigate the bond strength. The interface was examined by scanning electron microscope. The ability of the composites to

Research paper thumbnail of Modeling Impact Energy of Functionally Graded Steels in Crack Divider Configuration Using Modified Stress-Strain Curve Data

International Journal of Damage Mechanics, 2011

ABSTRACT: Charpy impact energy of functionally graded steels produced by elec-troslag remelting c... more ABSTRACT: Charpy impact energy of functionally graded steels produced by elec-troslag remelting composed of graded ferritic and austenitic layers together with bainite or martensite intermediate layer in crack divider configuration has been modeled. From load—displacement curves ...

Research paper thumbnail of Prediction of martensite fraction of microalloyed steel by artificial neural networks

Neural Network World, 2013

The final microstructure and resulting mechanical properties in the linepipe steels are predomina... more The final microstructure and resulting mechanical properties in the linepipe steels are predominantly determined by austenite decomposition during cooling after thermomechanical and welding processes. The paper presents some results of the research connected with the development of a new approach based on the artificial neural network to predicting the martensite fraction of the phase constituents occurring in five microalloyed steels after continuous cooling. The independent variables in the model are chemical compositions, niobium condition, austenitizing temperature, initial austenite grain size and cooling rate over the temperature range of the occurrence of phase transformations. For the purpose of constructing these models, 104 different experimental data were gathered from the literature. According to the input parameters in feedforward backpropagation algorithm, the constructed networks were trained, validated and tested. In this model, the training and testing results in the artificial neural network have shown a strong potential for prediction of effects of chemical compositions and heat treatments on phase transformation of microalloyed steels.

Research paper thumbnail of New bounds on the maximal error exponent for multiple-access channels

2009 IEEE International Symposium on Information Theory, 2009

The problem of bounding the reliability function of a multiple-access channel (MAC) is studied. A... more The problem of bounding the reliability function of a multiple-access channel (MAC) is studied. An upper bound on the minimum Bhattacharyya distance between codeword pairs is derived. For a certain large class of two-user discrete memoryless (DM) MAC, a lower bound on the maximal probability of decoding error is derived as a consequence of the upper bound on Bhattacharyya distance. Further, an upper bound on the average probability of decoding error is studied. It is shown that the corresponding upper and lower bounds have a similar structure. Using a conjecture about the structure of the multiuser code, a tighter lower bound for the maximal probability of decoding error is derived and is shown to be tight at zero rates.

Research paper thumbnail of Analytical investigations and fuzzy logic-based modeling of the impact resistance of aluminum-epoxy laminated composites

Science China Technological Sciences, 2011

Abstract In the present paper, Charpy impact resistance of aluminum-epoxy laminated composites in... more Abstract In the present paper, Charpy impact resistance of aluminum-epoxy laminated composites in both crack divider and crack arrester configurations has been investigated. In both configurations, an analytical investigation has been carried out to evaluate the effects ...

Research paper thumbnail of Production geopolymers by Portland cement: Designing the main parameters’ effects on compressive strength by Taguchi method

Materials & Design, 2012

In the present study, Taguchi method was utilized to design compressive strength tests of geopoly... more In the present study, Taguchi method was utilized to design compressive strength tests of geopolymers produced by Portland cement as aluminosilicate source. Six main factors including NaOH concentration, water glass to NaOH weight ratio, alkali activator to cement ...

Research paper thumbnail of Microhardness profile prediction of functionally graded steels by artificial neural networks

International Journal of Damage Mechanics, 2012

ABSTRACT

Research paper thumbnail of Kinematics and workspace analysis of a novel 3-DOF parallel manipulator with virtual symmetric plane

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2013

This article presents a novel 3-DOF parallel manipulator extracted from an origami fold in the co... more This article presents a novel 3-DOF parallel manipulator extracted from an origami fold in the context of mechanisms. The parallel manipulator consists of a base, a platform and four chain-legs that connect the platform to base through revolute joints. Each chain-leg contains a closed-loop sub-chain, which is spherical 6R linkage with symmetrical angle lengths. The geometry of the parallel manipulator is revealed according to the configuration design and specifics of the origami fold. This leads to unravelling of the symmetric plane which is determined by the common points of spherical 6R linkages in the four chain-legs. Based on geometric approach, the solutions for both inverse and forward kinematics are derived and the reachable workspace is then analyzed.