PRRRRRP redundant planar parallel manipulator: Kinematics, workspace and singularity analysis. - Soheil Zarkandi; Ana Vafadar; Mohammad Reza Esmaili (RAM, 2011)

A new geometric method for singularity analysis of spherical mechanisms. - Soheil Zarkandi (Robotica, 2011)

An Instant Centre Approach for Isotropy Analysis of Planar Parallel Mechanisms. - Soheil Zarkandi (Int. J. Robotics Autom., 2016)

Task-based torque minimization of a 3-PṞR spherical parallel manipulator. - Soheil Zarkandi (Robotica, 2022)

Dynamic modeling and power optimization of a 4RPSP+PS parallel flight simulator machine. - Soheil Zarkandi (Robotica, 2022)