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Author

Mohammad Dastranj

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2 papers indexed here

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Preprint Sep 2026

Modular Kinematic Reduction of Closed-Chain Mechanisms Using Path Assembly and Defect Homotopy

Closed kinematic chains complicate modular modeling by coupling active and passive coordinates through nonlinear closure constraints. This paper presents a Path-Assembled Closure Differential Mapping (PACDM) framework for modular closure resolution and kinematic reduction. Each closure element compares two ordered tran...

Mohammad Dastranj, J. Mattila · 3 citations
Preprint Oct 2026

Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly

Rigid closed chains can admit indeterminate internal reactions even when their motion is fully specified. This paper develops a modular inverse-dynamics workflow that combines path-based motion reconstruction with recovery of uniquely determined actuator and joint-wrench outputs. Analytical second-order differentiation...

Mohammad Dastranj, J. Mattila · 0 citations

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