2019:Robotic FDM 3D-Printer with SCARA Mechanismwith Dr. Farhad Azimifar, Azad University Isfahan.

In this method, the desired material, which is mainly of ABS, passes through a special nozzle, and after passing the desired paths and the melted material deposited; the desired component is produced in a layered layer. FDM materials must have a flexural modulus (solid) and a good strength, and be threaded around a pulley, as a piston of molten pump pumps, out of the nozzle. (Thermoplastic filaments are used as a piston for the melting pump). In this device, the main topic of simulation and control of the combined system (FDM + Delta Robot) is. In fact, the goal is to have the mechanism of the FDM, a simple XYZ mechanism, equipped with a Delta robotic arm to direct the device’s nozzle to curved paths. Indeed, we seek to combine cleverly; the two above-mentioned systems reduced production time and, on the other hand, increased the strength of components and accuracy so that FDM products could be used in real-world functional tests. This Robot utilizes for manufacturing the medical equipment, mechanical and other fields that need manufacturing parts with high precision.

2018: Modeling and Analysis of MRI-Actuated Catheters, Sim Mechanics, SolidWorks (Flow Simulation)

In order to simulate catheter tools in a blood environment, the first heart and catheter were designed in SolidWorks software (fig.1). Then environmental conditions of blood such as blood speed, pressure, and temperature were determined and simulated with cosmos flow simulation in SolidWorks software. The result of this simulation can investigate the way of applying the force on catheter tool and force distribution. Catheter tool was designed like a spherical joint and it was put in the heart. Designing of vessel diameter and dimensions of catheter tool was done based on the reports of similar articles.