roboticsfrontier مؤسسه پژوهش‌های مرزی رباتیک
Menu

Research / Sheet T-01 — Program 01

Grasping & dexterous manipulation

Shape memory alloy grippers and fingers, and computational mechanics of layered structures and complex fluids.

T1 / 01

Problem statement

Shape memory alloy (SMA) wires offer a high power-to-weight ratio and quiet actuation without a complex transmission, but hysteresis and a nonlinear response make finger position and grip force hard to predict and regulate. The program studies how to design, model and control SMA-actuated grippers and tendon-driven artificial fingers so that they reach a commanded position or force. Two computational mechanics lines sit alongside this work: finite element and high-order sandwich models of layered and graded structures under vibration, impact and elastic-plastic bending, and particle simulation of bubbles, drops and other interfacial flows in viscoelastic and thixotropic liquids.

T1 / 02

Scientific challenge

  • SMA hysteresis and nonlinearity mean the same input current can give different finger positions and grip forces depending on history.

  • In layered and graded structures, equivalent single-layer theories miss interlaminar stresses and core compressibility, yet full 3D finite element models are costly.

  • Bubbles rising in viscoelastic liquids can develop cusped trailing edges that a particle solver must resolve at high density and viscosity ratios.

T1 / 03

Approach

  1. Design SMA-driven grippers and three-joint fingers, with sliders, tendons and return springs, and model their dynamic response to input current.

  2. Address SMA hysteresis with fuzzy PID control of finger motion, and self-tuning fuzzy PID grip-force control developed in multibody co-simulation.

  3. Model sandwich and graded structures with layerwise finite elements and high-order sandwich theory, and non-Newtonian flows with weakly compressible SPH.

T1 / 04

Related publications

  • 2026

    Manufacturable design and experimental investigation of functionally graded TPMS-based root analogue implant for dental applications

    Teni Keshishian, Sattar Jedari Salami, Hosein Geramizadeh, Arpy Keshishian, Soheil Dariushi · Results in Engineering, vol. 29, art. 109574 · Department of Mechanical Engineering, CT.C., Islamic Azad University, Tehran, Iran · DOI:10.1016/j.rineng.2026.109574

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2026

    Study of skull-inspired doubly curved sandwich panels under hail impact using extended high-order sandwich panel theory

    Alireza Nemati Jahromi, Reza Hedayati, Mojtaba Sadighi, Sattar Jedari Salami · Composites Part C: Open Access, vol. 20, art. 100747 · Department of Mechanical Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1016/j.jcomc.2026.100747

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2025

    Viscoelastic high-damping vibration attenuation of sandwich FG-GPLRC face sheets by incorporating full nonlinear effects

    Hamidreza Rostami, Sattar Jedari Salami · Composites Part C: Open Access, vol. 18, art. 100650 · Department of Mechanical Engineering, CT.C., Islamic Azad University, Tehran, Iran; Institute of Manufacturing Engineering and Industrial Technologies, CT.C., Islamic Azad University, Tehran, Iran · DOI:10.1016/j.jcomc.2025.100650

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2024

    Improved high-order bending analysis of sandwich beams with bilinear elasto-plastic core by considering full stress and displacement compatibility at interfaces

    Sattar Jedari Salami · Acta Mechanica, vol. 235, no. 8, pp. 5329-5355 · Department of Mechanical Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1007/s00707-024-03966-3

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2024

    Nonlinear free vibrations of sandwich plates with FG GPLR face sheets based on the full layerwise finite element method

    Mohammad Sadegh Tayebi, Sattar Jedari Salami, Majid Tavakolian · Acta Mechanica, vol. 235, no. 12, pp. 7835-7854 · Department of Mechanical Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1007/s00707-024-04129-0

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2024

    Numerical simulation of single-mode and multi-mode RTI regarding thixotropic effects by SPH

    Mohammad Vahabi · European Journal of Mechanics - B/Fluids, vol. 106, pp. 94-106 · Department of Mechanical Engineering, College of Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1016/j.euromechflu.2024.04.002

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2023

    Free vibration analysis of functionally graded composite rectangular plates reinforced with graphene nanoplatelets (GPLs) using full layerwise finite element method

    Mohammad Sadegh Tayebi, Sattar Jedari Salami, Majid Tavakolian · Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 237, no. 24, pp. 5865-5883 · Department of Biomedical Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1177/09544062231166245

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2023

    Numerical simulation of drop deformation under simple shear flow of Giesekus fluids by SPH

    Zahra Moinfar; Shahed Vahabi; Mohammad Vahabi · International Journal of Numerical Methods for Heat & Fluid Flow, vol. 33, no. 1, pp. 263-281 · Department of Mechanical Engineering, College of Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1108/HFF-01-2022-0067

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2022

    The effect of thixotropy on deformation of a single droplet under simple shear flow

    Mohammad Vahabi · Computers & Mathematics with Applications, vol. 117, pp. 206-215 · Department of Mechanical Engineering, College of Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1016/j.camwa.2022.04.023

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2021

    Interaction of a pair of in-line bubbles ascending in an Oldroyd-B liquid: A numerical study

    Mohammad Vahabi; Hamidreza Hadavandmirzaei; Babak Kamkari; Hesameddin Safari · European Journal of Mechanics - B/Fluids, vol. 85, pp. 413-429 · Department of Mechanical Engineering, College of Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1016/j.euromechflu.2020.11.004

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2021

    The effect of thixotropy on dam-break flow: a numerical study by smoothed particle hydrodynamics

    Mohammad Vahabi · Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol. 43 · Department of Mechanical Engineering, College of Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1007/s40430-021-03241-9

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2019

    Simulating gas bubble shape during its rise in a confined polymeric solution by WC-SPH

    Mohammad Vahabi; Babak Kamkari · European Journal of Mechanics - B/Fluids, vol. 75, pp. 1-14 · Department of Mechanical Engineering, College of Engineering, Central Tehran Branch, Islamic Azad University, Tehran, Iran · DOI:10.1016/j.euromechflu.2018.12.003

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2017

    Three dimensional analysis of functionally graded plates up to yielding, using full layer-wise finite element method

    S. Nikbakht, S. Jedari Salami, M. Shakeri · Composite Structures, vol. 182, pp. 99-115 · Department of Mechanical Engineering, Damavand Branch, Islamic Azad University, Damavand, Iran · DOI:10.1016/j.compstruct.2017.09.022

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2016

    The effect of thixotropy on a rising gas bubble: A numerical study

    Kayvan Sadeghy; Mohammad Vahabi · Korea-Australia Rheology Journal, vol. 28, no. 3, pp. 207-216 · Center of Excellence in Design and Optimization of Energy Systems (CEDOES), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, 11155-4563, Iran · DOI:10.1007/s13367-016-0021-8

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2015

    On the Use of SPH Method for Simulating Gas Bubbles Rising in Viscoelastic Liquids

    Mohammad Vahabi; Kayvan Sadeghy · Nihon Reoroji Gakkaishi (Journal of the Society of Rheology, Japan), vol. 42, pp. 309-319 · School of Mechanical Engineering, College of Engineering, University of Tehran · DOI:10.1678/rheology.42.309

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2013

    Low velocity impact response of thick FGM beams with general boundary conditions in thermal field

    Y. Kiani, M. Sadighi, S. Jedari Salami, M. R. Eslami · Composite Structures, vol. 104, pp. 293-303 · Mechanical Engineering Department, Amirkabir University of Technology, Tehran, Iran · DOI:10.1016/j.compstruct.2013.05.002

    DOI ↗ BibTeX

    journal Prior affiliation
  • 2011

    Design and Analysis a Novel Three Finger Gripper Actuated by SMA Wires

    A. Khodayari, M. Kheirikhah, B. Zarefar · International Conference on Mechanical and Electrical Technology, 3rd (ICMET-London 2011), Volumes 1-3 (ASME Digital Collection) · Islamic Azad University, Pardis Branch, Department of Mechanic, Tehran, Iran · DOI:10.1115/1.859810.paper335

    DOI ↗ BibTeX

    conference Prior affiliation
  • 2011

    Fabrication a practical SMA actuated gripper

    Alireza Khodayari, Mohammad Mahdi Kheirikhah, Banafshe Zarefar · 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO) · Department of Mechanic, Islamic Azad University, Tehran, Iran · DOI:10.1109/robio.2011.6181719

    DOI ↗ BibTeX

    conference Prior affiliation
  • 2011

    Force control of a SMA actuated gripper by using self tuning fuzzy PID controller

    Alireza Khodayari, Banafshe Zarefar, Mohammad Mahdi Kheirikhah, Ehsan Mirsadeghi · 2011 IEEE International Conference on Control System, Computing and Engineering (ICCSCE) · Mechanical Engineering Department, Islamic Azad University, Tehran, Iran · DOI:10.1109/iccsce.2011.6190543

    DOI ↗ BibTeX

    conference Prior affiliation
  • 2011

    Fuzzy PID controller design for artificial finger based SMA actuators

    Alireza Khodayari, Maryam Talari, Mohammad Mahdi Kheirikhah · 2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011), pp. 727-732 · Mechanical Engineering Department, Islamic Azad University, Tehran, Iran · DOI:10.1109/fuzzy.2011.6007542

    DOI ↗ BibTeX

    conference Prior affiliation
  • 2010

    Design a new model for artificial finger by using SMA actuators

    Mohammad Mahdi Kheirikhah, Alireza Khodayari, Maryam Tatlari · 2010 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1590-1595 · Mechanical Engineering Department, Islamic Azad University, Pardis Branch, Tehran, Iran · DOI:10.1109/robio.2010.5723567

    DOI ↗ BibTeX

    conference Prior affiliation

All publications

T1 / 05

People

Faculty on this program

Students on this program

Students — none listed yet

A student is named here only once their consent is recorded.

Open positions

Open positions — none posted on this program

Positions are posted with their degree and funding terms when they open. Work with us is the route in the meantime.

Have a problem in grasping & dexterous manipulation — academic or industrial? The scoping conversation costs nothing.

Discuss a collaboration