Farzad Cheraghpour Samavati
Islamic Azad University, Tehran, K.N.Toosi University of Technology
Papers
12
Total Citations
106
H-Index
7
About
Farzad Cheraghpour Samavati is a robotics researcher whose work spans industrial robot modeling, robotic grasping and manipulation, and the design of advanced robotic hand systems. His most influential contribution — a dynamic modeling and kinematic simulation framework for the Stäubli TX40 industrial robot using MATLAB/ADAMS co-simulation — has garnered 34 citations and established a robust platform for studying kinematics, dynamics, and control in realistic industrial settings. Complementing this, his singularity analysis and robustness comparisons of motion control algorithms for the same platform have further deepened understanding of practical robot performance under uncertainty. Samavati has made notable strides in robotic grasping, introducing the Multiple Aspect Grasp (MAG) performance index — a multi-criteria framework evaluating contact geometry, manipulator configuration, and kinetic factors — and applying it through neural network and optimization methods for grasp planning. His 19-cited work on a compound robotic hand combining underactuated and continuum finger designs reflects a creative synthesis of two distinct paradigms to enhance manipulation versatility. Later research into hyper-redundant robots using ball screw mechanisms demonstrates his continued interest in robots capable of operating in confined or inaccessible environments. Across his body of work, Samavati consistently bridges theoretical modeling with physical design and fabrication, making meaningful contributions to practical robotic manipulation research.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4Design, Fabrication and Control of a Three-Finger Robotic Gripper8 citations · 2011
- 5Singularity analysis of 6DOF Stäubli© TX40 robot7 citations · 2011
- 6
- 7Application of MAG index for optimal grasp planning7 citations · 2011
- 8Design of hyper redundant robot using ball screw mechanism approach4 citations · 2015
- 9
- 10A Neural Network Approach for optimal grasp planning2 citations · 2011