Sami S. Antrazi
Papers
8
Total Citations
122
H-Index
4
About
Sami S. Antrazi is a pioneering researcher in the field of robotics, specializing in the kinematics, control, and design of Stewart platform-based manipulators. His work focuses on solving critical challenges in six-degree-of-freedom (6 DOF) robotic systems for precision assembly, particularly in space applications. Antrazi’s major contributions include developing efficient algorithms for forward kinematics and Jacobian matrix computation, which are essential for real-time control of parallel robots. His research on a Stewart platform-based force sensor introduced passive compliance for robotic assembly, enabling safer and more accurate part mating. With over 120 total citations, his most influential papers—such as “Efficient computation of forward kinematics and Jacobian matrix of a Stewart platform-based manipulator” (42 citations) and “Analysis and implementation of a 6 DOF Stewart platform-based force sensor” (32 citations)—have shaped the design and control of closed-kinematic chain mechanisms. Antrazi also advanced trajectory planning and motion control for straight-line tracking, and his work on geometric design methodologies optimized actuator placement for maximizing workspace. Supported by NASA grants, his research has been instrumental in developing robotic wrists and manipulators for autonomous space assembly, making him a key figure in parallel robotics.
Research Focus
Key Achievements
Top Papers
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- 6A methodology for geometric design of closed kinematic chain mechanisms4 citations · 2002
- 7SIX-DEGREE-OF-FREEDOM3 citations · 1991
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