Introduction

Hassen is currently with the Robotics Institute of Zhejiang University, working on the design and analysis of parallel rigid /continuum robots and their applications.

Hassen's research interests include:

Robotic mechanisms' design and analysis
Theoretical kinematics in screw theory and Lie algebra
Reconfigurable and modular robots
Continuum robot analysis and simulation

Manipulator with parasitic motion

Parasitic motion free manipulator

3D: model of SprintZ3 (3PRS)

Instantaneous motion polodes of 4bar mechanism

Dimensionally Homogeneous Jacobian using Extended Selection Matrix for Performance Evaluation and Optimization of Parallel Manipulators

Workspace optimization of 1T2R parallel manipulators with a dimensionally homogeneous constraint-embedded Jacobian

Analysis of parasitic motion with the constraint embedded Jacobian for a 3-PRS parallel manipulator

Optimization of 3-DoF Manipulators’ Parasitic Motion with the Instantaneous Restriction Space-Based Analytic Coupling Relation

Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMs

ON THE STRUCTURAL CONSTRAINT AND MOTION OF 3-PRS PARALLEL KINEMATIC MACHINES

Constraint-Embedded Velocity Analysis of Lower-DoF Parallel Manipulators to Remove Parasitic Motion