Institute of Mechanics

Recent Publications:

32. Michail Tsveov, Dimitar Chakarov, Approaches to control the compliance of a RRR robot. “10. Magdeburger Maschinenbau Tage“, Magdeburg, 27-29.Sept. 2011,Proceedings CD, ISBN 978-3-940961-60-0, (2011).

31.Chakarov, D., Kostadinov, K., Tiankov, T., Cveov, M., “Two ways of the modeling and analysis of a serial parallel micro manipulator with elastic joints”, сп.„Механика на машините”, год.XVIII, кн.7, 2010, ISSN 0861-9727.стр.87-90.

30.Cveov M., D. Chakarov, Model and computer experiments in order to adjust the compliance of human oriented robots, сп.„Механика на машините”, год.XVIII, кн.7, 2010, ISSN 0861-9727.стр.32-35.

29. Тsveov M., D. Chakarov, Computer Modelling and Simulation of Controllable Compliance Joint. Journal of Theoretical and Applied Mechanics, No.4, 2010, pp.23-30.

28. Cveov M., D. Chakarov, Computer Modelling and Simulation of Controllable Compliance Joint. Pros of the 11^th National Congress on Theoretical and Applied Mechanics (NCTAM2009), Borovets, Bulgaria, 2-5 September 2009, Proceedings CD, ID:30-152-5-PB, ISSN 1313-9665, (2009).

27. Tsveov M., D. Chakarov. Analysis of adjustable compliance joints with torsion leaf spring, Pros. of the Int. Conf. "PRACTRO'09",Sozopol, 12-15.June, 2009.

26. Chakarov D , K.Kostadinov, D.Gotseva, T.Tianov . Web-based Synthesis of Robot Structures for Micro and Nano Manipulators.Solid State Phenomena, Trans Tech Publications, Switzerland , Vols. 147-149, pp.25-30, (2009/Jan./06)

25. Chakarov D , K.Kostadinov, D.Gotseva, T.Tianov .Synthesis of Tense Piezo Structures for Micro and Nano Manipulators Using Web Technologies. Pros. of the "5th BALTIC - BULGARIAN CONFERENCE ON BIONICS AND PROSTHETICS...", JUNE 5-6, 2008, Varna, pp.74-77.

24. Chakarov D.;M. Abed Al-Wahab ;Kasper R.; Kostadinov K. Synthesis of tense piezo structures for lokal mikro- & nano- manipulations. , [pdf]. Pros. of the "8. Magdeburger Maschinenbau-Tage", October 10-11, 2007, Magdeburg, pp.173-180.

23. D. Chakarov, T. Tiankov. MODELING AND SIMULATION OF HUMAN ORIENTED ROBOTS, [pdf]. Pros. of the Int. Conf. "AUTOMATICS AND INFORMATICS'07", Oct. 3-6, 2007, Sofia, vol. II, pp. VI 25 - VI 28.

22 . D. Chakarov. DESIGN AND DEVELOPMENT OF HUMAN - ORIENTED ROBOTS, [pdf]. Pros. of the Nineth Int. Conf. on Robotics- PRACTRO'2007, June 12-15, 2007, Varna, Bulgaria, pp.184-189.

21. Kasper R.; Abed Al-Wahab M.; Heinemann W.; Kostadinov K.; Chakarov D.,.Mechatronic handling device based on piezo ceramic structures for micro and nano applications, [pdf]. Proc. of the "Actuator 2006 : 10th International Conference on New Actuators", 14 - 16 June 2006, Bremen, Germany ; pp. 154-158.

20. Tiankov T., D. Gotseva, T.Petrov, V. Latkovski, D. Chakarov, K.Kostadinov.Actuation and Control System for Human Oriented Robots [doc], [pdf].

Pros. of the "5th BALTIC - BULGARIAN CONFERENCE ON BIONICS AND PROSTHETICS...", JUNE 5-6, 2006, Varna, pp.55-58.

19. Chakarov D. Kinematics Model of Nonholonomic Wheeled Mobile Robots for Mobile Manipulation Tasks [doc], [pdf]. Pros. of the "5th BALTIC - BULGARIAN CONFERENCE ON BIONICS AND PROSTHETICS...", JUNE 5-6, 2006, Varna, pp.59-61.

18. Borisov B., D. Chakarov. A Computer Aided Investigation of Machine Tool Dynamic Stability on the Basis of Linear Mathematical Models. [doc], [pdf]. Pros. of the "10th JUBILEE NATIONAL CONGRESS ON THEORETICAL AND APPLIED MECHANICS", September 13-16, 2005, Varna, pp.1-5.

17. Chakarov D., K.Kostadinov, T. Tiankov. Computer Modeling and Synthesis of Human Centered Robots. [doc], [pdf]. Pros. of the "7. Magdeburger Maschinenbau-Tage", October 11-12, 2005, Magdeburg, pp.50-55.

16. Tiankov T., D.Chakarov, K.Kodtadinov. Modeling and Simulation of Mechatronic Scaning System for Measurement of Electrochemical Impedance. [doc], [pdf]. Pros. of the "7. Magdeburger Maschinenbau-Tage", October 11-12, 2005, Magdeburg, pp.70-75.

15. Chakarov D. Some Approaches for Safety in the "Human-robot" Interaction. [doc], [pdf] Pros. of the Eighth Int. Conf. on Robotics- PRACTRO'2005, June 15-18, 2005, Varna, Bulgaria, pp.86-91.

14. Chakarov D. Some Approaches for Passive Compliance Realization for Precize Opperation Manipulators[doc], [pdf], [zip], Pros. of the 4-rd Baltic - Bulgarian Conference on Bionics, Biomechanics and Mechatronics,
June 14-15, 2004, Varna, Bulgaria, pp. 88-91 //ISBN 9984-32-522-9/.

13. Chakarov D. Study Of The Antagonistic Stiffness Of Parallel Manipulators with Actuation Redundancy , [doc], [zip],[pdf] Mechanism and Machine Theory (The scientific journal of IFToMM), vol. 39/6 (2004), pp.583-601.

12. Chakarov D. Stiffness Control of a Parallel Robot with 0ppositional Operating [doc] , [pdf], [zip]. Pros of the "6th Magdeburg Days of Mechanical Engineering",24-26. Sept., 2003,Magdeburg, pp.113-119.

11. Chakarov D. Sinthesis of Parallel Manipulators with Redundant Actuation [doc],[pdf], [zip] . Pros of the Int. Conf."Power Transmissions'03",11-12. Sept., 2003,Varna, pp.295-300.

10. Chakarov D. Approaches of Stiffness Control of Parallel Manipulators with Actuation Redundancy [doc], [pdf], [zip]. Pros of the International Scientific Conference PRACTRO'03, Yune 10-13. 2003,Varna, pp.199-206.

9. Chakarov D. Stiffness Control of a Serial-Parallel Manipulator with Actuation Redundancy [doc],[pdf] ,[zip]. Pros of the 47 th International Scientific Colloquium, Technical University of Ilmenau , Sept. 23-26. 2002, p.163.

8. Chakarov D. Stiffness Control Schemes of Redundant Actuated Manipulators [doc], [pdf], [zip], Pros. of the 3-rd Baltic - Bulgarian Conference on Bionics, Biomechanics and Mechatronics,
June 3-5, 2002, Varna, Bulgaria, pp.48-51 /ISBN 9984-32-522-9/.

7.Chakarov D. Study of the Stiffness of Hybrid Manipulators with Force redundancy [doc], [pdf], [zip], Journal of Theoretical and Applied Mechanic, Sofia, Vol.32, No.1,2002,pp. 3 -14.

6. Chakarov D. Approaches of Stiffness Synthesis of Hybrid Manipulators with Actuation Redundancy [doc], [zip],[pdf]. Pros of the "9th National Congress on Theoretical and Applied Machanics, 19-22 Sept. 2001, Varna, Vol.2, pp.95-100.

5.Chakarov D. ANALYSIS AND SYNTHESIS OF THE STIFFNESS OF A HYBRID MANIPULATOR WITH REDUNDANT ACTUATION [doc], [pdf], [zip], Pros. of the "5th Magdeburg Days of Mechanical Engineering",19-20. Sept., 2001,Magdeburg, pp.119-127

4. Chakarov D. Optimization synthesis of Parallel Manipulators with desired stiffness [doc], [zip],[pdf]. Journal of Theoretical and Applied Mechanics, Sofia, 1998, Year XXVIII, No.4

3. Chakarov D. Study Of The Passive Compliance Of Parallel Manipulators [doc], [zip], [pdf]. Mechanism and Machine Theory (The scientific journal of IFToMM), Vol. 34 (1998), pp.373-389

2. Chakarov D. and P. Parushev. Synthesis of Parallel Manipulators with Linear Drive Modules. Mechanism and Machine Theory (The scientific journal of IFToMM), Vol.29, No.7, 1994, pp.917-932.

1.Chakarov D.Parallel Manipulators with Controlled Compliance. Pros. of the Tenth CISM - IFToMM Symp. "Ro.Man.Sy.10", Gdansk, Sept.12-15, 1994, pp.225-231.

Recent Projects:

Joint Research Grant "Mechatronics Handling Devices Based on Piezo-ceramic Structures for Micro and Nano Applications- MecHaPiCS", Funded by DFG, Participants: Otto von Guericke Universitaet Magdeburg, Fakultaet fuer Maschinenbau, Institut fuer Mechatronik und Antriebstechnik and Institute of Mechanics Sofia, Mechatronics Department. Duration: 2005- 2008.

Membership:

• Member of Bulgarian Scientists Union;

• Member of Bulgarian Society of Robotics.

Home page: http://www.imbm.bas.bg/imbm/lms/chakarov/default.htm