مقالات

[1] Ali Mojibi, Pouya Firuzy Rad, Hamed Ghafarirad, Afshin Taghvaeipour. (2025) " Kinetostatic and Dynamic Analyses of Micro-Positioning Compliant Mechanism Equipped with Piezoelectric Actuator," AUT Journal of Mechanical Engineering

[2] Amirmasood Khaloujini, Pouya Firuzy Rad, Hamed Ghafarirad, Ali Azimi. (2025) "Analysis and modeling of nonlinear saturated behavior of layer jamming soft pneumatic bending actuator," Smart Materials and Structures

[3] پویا فیروزی راد، حامد غفاری راد، سیدمهدی رضاعی . (2025) "مدل‌سازی دینامیکی جامع و تحلیل رفتار سامانه تزریق قطره سیال به کمک پیزوالکتریک," نشریه مهندسی مکانیک امیرکبیر

[4] Mohamad Mostafa Barouti, Afshin Taghvaeipour, Hamed Ghafarirad. (2025) "Kinetostatic analysis and design of compliant mechanisms based on the stiffness matrix," Mechanics Based Design of Structures and Machines

[5] Mohammad Javad Zallaghi, Hamed Ghafarirad, Afshin Taghvaeipour. (2024) "Direct model parameter identification of twisted string actuators using Nelder-Mead simplex method," Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

[6] محمد سعید ارمی مطلق ارمکی، حامد غفاری راد، افشین تقوایی پور، پویا فیروزی راد. (2024) "مدل‌سازی الاستواستاتیک و طراحی بهینه مکانیزم منعطف لوزی," نشریه مهندسی مکانیک امیرکبیر

[7] پویا فیروزی راد، حامد غفاری راد، سید مهدی رضاعی. (2024) "طراحي، ساخت و مدل‌سازي تجربي سامانه تزريق قطره مبتني بر پيزوالکتريک با استفاده از روش آماري," مهندسي مکانيک مدرس

[8] امیرحسین مرادی، حامد غفاری راد، سید مهدی رضاعی، محمد زارعی نژاد، پویا فیروزی راد. (2024) "طراحي، ساخت و مدلسازي ديناميک جامع شير سروو نيوماتيک پيزوالکتريک مبتني بر مکانيزمهاي منعطف," مهندسي مکانيک مدرس

[9] Mohammad Azadkhani, Fatemeh Karimi, Hamed Ghafarirad, Mohammad Zareinejad. (2024) "Modeling and Sensitivity Analysis of Stick-Slip Piezoelectric Rotary Inertia Motor," International Journal of Robotics

[10] Mohammad Hadi Namdar Ghalati, Hamed Ghafarirad. (2023) "Continuous deformation analysis and contact force estimation for pneumatic bending actuators interacting with environment," Comptes Rendus. Mécanique

[11] سپیده اکبری، محمد هادی نامدار قلاتی، حامد غفاری راد، سید مهدی رضاعی . (2023) "مدلسازی رفتار عملگرهای نرم خمشی نیوماتیکی در شرایط آزاد و تعامل با محیط," مهندسی مکانیک مدرس

[12] Sadegh Pourghasemi Hanza, Hamed Ghafarirad. (2023) "Mechanics of fiber-reinforced soft manipulators based on inhomogeneous Cosserat rod theory," Mechanics of Advanced Materials and Structures

[13] Mohammad Hadi Namdar Ghalati, Sepideh Akbari, Hamed Ghafarirad, Mohammad Zareinejad. (2023) "Behavior analysis of biomimetic soft bending actuators in free motion and contact," Journal of Bionic Engineering

[14] Ehsan Amirpour, Rasul Fesharakifard, Hamed Ghafarirad, Seyed Mehdi Rezaei, Alireza Saboukhi, Mohammad Savabi, Masoud Rahimi Gorji. (2022) "A novel hand exoskeleton to enhance fingers motion for tele-operation of a robot gripper with force feedback," Mechatronics

[15] Shokoufeh Davarzani, Mohammad Ali Ahmadi-Pajouh, Hamed Ghafarirad. (2022) "Design of sensing system for experimental modeling of soft actuator applied for finger rehabilitation," Robotica

[16] Mohammad Hadi Namdar Ghalati, Hamed Ghafarirad, Amir Abolfazl Suratgar, Mohammad Zareinejad, Mohammad Ali Ahmadi-Pajouh. (2022) "Static modeling of soft reinforced bending actuator considering external force constraints," Soft Robotics

[17] Reza Karimpour, Mohammad Hadi Namdar Ghalati, Hamed Ghafarirad. (2022) "Configuration detection and external force tuning for soft-bending actuators under position constraint," Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science

[18] Hesam Soleimanzadeh, Hamed Ghafarirad, Afshin Taghvaeipour. (2022) "Theoretical and experimental investigation of coupled longitudinal-transverse nonlinear vibration for micro-positioning piezoelectric bending actuators," Journal of the Brazilian Society of Mechanical Sciences and Engineering

[19] Sadegh Pourghasemi Hanza, Hamed Ghafarirad. (2022) "Theoretical and Experimental Behavior Analysis of Continuous Soft Robots Consisting of Fiber-Reinforced Actuators," Journal of Solid and Fluid Mechanics

[20] N Roshandel, D Soleymanzadeh, H Ghafarirad, AM Sadri Koupaei. (2021) "A modified sensorless position estimation approach for piezoelectric bending actuators," Mechanical Systems and Signal Processing

[21] ZH Ahoor, H Ghafarirad, M Zareinejad. (2021) "Nonlinear dynamic modeling of bimorph piezoelectric actuators using modified constitutive equations caused by material nonlinearity," Mechanics of Advanced Materials and Structures

[22] سپیده اکبری، حامد غفاری راد، محمد زارعی نژاد. (2021) " مدل‌سازی سینماتیکی ربات نرم فضایی به روش تحلیلی بهبودیافته مبتنی بر ربات‌های سری," نشریه مهندسی مکانیک امیرکبیر

[23] Niromand Jasimi Zindashti, Bharam Afsharmanesh, Afshin Taghvaeipour, Hamed Ghafarirad, Amirhosein Riazi, Kiamehr Oladzad Abbasabadi, Bahram Ilkhani. (2021) "A Force Analysis of Rotary Kiln Elastomers in the Neyzar Qom Cement Company Considering Static, Dynamic, and Thermal Loadings," Iranian Journal of Manufacturing Engineering

[24] ثریاسادات خضری تبار، حامد غفاری راد، محمد زارعی نژاد . (2021) "مدلسازی دینامیک غیرخطی و تعیین توان الکتریکی بهینه در برداشت انرژی به کمک تیر دولایه پیزوالکتریک," نشریه مهندسی مکانیک ایران

[25] Davood Soleymanzadeh, Hamed Ghafarirad, Mohammad Zareinejad. (2020) "Sensorless adaptive sliding mode position control for piezoelectric actuators with charge leakage," Journal of Intelligent Material Systems and Structures

[26] A Sadri Koupaei, D Soleymanzadeh, H Ghafarirad. (2020) "Modeling and Compensation of Charge Leakage in Self-Sensing Position Estimation for Piezoelectric Actuators," Modares Mechanical Engineering

[27] Pouyan Shahabi, Hamed Ghafarirad, Afshin Taghvaeipour. (2020) "High-frequency robust position control of a nonlinear piezoelectric bending actuator," Journal of Vibration and Control

[28] H Ghafarirad, SM Rezaei, M Zareinejad, NA Mardi. (2019) "Charge-based hysteresis compensation in low impedance piezoelectric actuators by a modified Prandtl–Ishlinskii model," Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering

[29] Z Naseriasl, R Fesharakifard, H Ghafarirad. (2019) "Control Analysis of an Auxiliary Mechanism for Trajectory Tracking of Planar Seams in Robotic Welding," Modares Mechanical Engineering

[30] H Ghafarirad, SM Rezaei, M Zareinejad. (2019) "Hysteretic Constitutive Equations Based Continuous Dynamic Modeling of Bending Piezoelectric Actuators," Modares Mechanical Engineering

[31] F Sahebsara, A Taghvaeipour, H Ghafarirad. (2019) "Kinematic Modelling of Origami-Inspired Continuum Robotic Arm by Constant-Curvature Elements," Modares Mechanical Engineering

[32] D Soleymanzadeh, H Ghafarirad, M Zareinejad. (2019) "Charge-based robust position estimation for low impedance piezoelectric actuators," Measurement

[33] Pouyan Shahabi, Hamed Ghafarirad, Afshin Taghvaeipour. (2019) "Nonlinear vibration analysis of piezoelectric bending actuators: Theoretical and experimental studies," Comptes Rendus Mécanique

[34] OR Ahmadzadeh, H Ghafarirad, M Zareinejad. (2019) "Mass Detection by Theoretical and Experimental Frequency Response Analysis of Bending Piezoelectric Actuators," Journal of Solid and Fluid Mechanics

[35] Mohamad Ebrahimi, Hamed Ghafarirad, Mohammad Zareinejad. (2018) "Transverse and longitudinal dynamic modeling of bimorph piezoelectric actuators with investigating the effect of vibrational modes," Journal of Theoretical and Applied Vibration and Acoustics