A novel spherical parallel manipulator: forward position problem, singularity analysis, and isotropy design. - Javad Enferadi; Alireza Akbarzadeh Tootoonchi (Robotica, 2009)

Mechanical Design Process for the Zippy Wrist. - Navid Mahpeykar; Javad Enferadi; Alireza Akbarzadeh Tootoonchi (ISR/ROBOTIK, 2010)

A Virtual Work Based Algorithm for Solving Direct Dynamics Problem of a 3-RRP Spherical Parallel Manipulator. - Alireza Akbarzadeh Tootoonchi; Javad Enferadi (J. Intell. Robotic Syst., 2011)

Accuracy and stiffness analysis of a 3-RRP spherical parallel manipulator. - Javad Enferadi; Alireza Akbarzadeh Tootoonchi (Robotica, 2011)

A closed-form solution for the position analysis of a novel fully spherical parallel manipulator. - Javad Enferadi; Amir Shahi (Robotica, 2015)

A closed-form solution for the position analysis of a novel fully spherical parallel manipulator - ERRATUM. - Javad Enferadi; Amir Shahi (Robotica, 2017)

The Performance Indices Optimization of a Symmetrical Fully Spherical Parallel Mechanism for Dimensional Synthesis. - Javad Enferadi; Reza Nikrooz (J. Intell. Robotic Syst., 2018)

A Study on Kinematics and Workspace Determination of a General 6-P US Robot. - S. Nader Nabavi; Alireza Akbarzadeh 001; Javad Enferadi (J. Intell. Robotic Syst., 2018)

Closed-Form Dynamic Formulation of a General 6-P US Robot. - S. Nader Nabavi; Alireza Akbarzadeh 001; Javad Enferadi (J. Intell. Robotic Syst., 2019)