Damien Chablat

Nonlinear Effects in Stiffness Modeling of Robotic Manipulators (2009)

It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by...

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien

The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint...

Nonlinear Effects in Stiffness Modeling of Robotic Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien

The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint...

Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace...

Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra (2009)

Kanaan, Daniel, Wenger, Philippe, Caro, Stéphane, Chablat, Damien

This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform....

Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra (2009)

Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the...

Kanaan, Daniel, Wenger, Philippe, Caro, Stéphane, Chablat, Damien

This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform....

Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra (2009)

Kanaan, Daniel, Wenger, Philippe, Caro, Stéphane, Chablat, Damien

This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform....

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...

Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...

Design optimization of parallel manipulators for high-speed precision machining applications (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...

Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators (2009)

On the optimal design of parallel robots taking into account their deformations and natural frequencies (2009)

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the...

Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...

Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe

The aim of this project is to design, study and build an "eel-like robot" prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the realization...

Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe

The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...

On the optimal design of parallel robots taking into account their deformations and natural frequencies (2009)

Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...

Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe

The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...

On the optimal design of parallel robots taking into account their deformations and natural frequencies (2009)

Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...

Design optimization of parallel manipulators for high-speed precision machining applications (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...

Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...

Design optimization of parallel manipulators for high-speed precision machining applications (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...

Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...

Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators (2009)

Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators (2009)

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the...

Stiffness Analysis of Overconstrained Parallel Manipulators (2009)

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...

Stiffness Analysis of Overconstrained Parallel Manipulators (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...

Stiffness Analysis of Overconstrained Parallel Manipulators (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...

Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis (2009)

Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical...

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two...

Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two...

Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two...

A NOVEL METHOD FOR THE DESIGN OF 2-DOF PARALLEL MECHANISMS FOR MACHINING APPLICATIONS (2009)

Félix Majou, Damien Chablat

Abstract Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The...

Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine (2009)

Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine (2009)

The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel...

A new muscle fatigue and recovery model and its ergonomics application in human simulation (2009)

The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel...

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei, Guillaume, François

Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and...

Dynamic Muscle Fatigue Evaluation in Virtual Working Environment (2009)

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei

Musculoskeletal disorder (MSD) is one of the major health problems in mechanical work especially in manual handling jobs. Muscle fatigue is believed to be the main reason for MSD. Posture analysis...

Dynamic Muscle Fatigue Evaluation in Virtual Working Environment (2009)

Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical...

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei

Musculoskeletal disorder (MSD) is one of the major health problems in mechanical work especially in manual handling jobs. Muscle fatigue is believed to be the main reason for MSD. Posture analysis...

Dynamic Muscle Fatigue Evaluation in Virtual Working Environment (2009)

Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical...

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei

Musculoskeletal disorder (MSD) is one of the major health problems in mechanical work especially in manual handling jobs. Muscle fatigue is believed to be the main reason for MSD. Posture analysis...

Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine (2009)

Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine (2009)

The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel...

Dynamic Muscle Fatigue Evaluation in Virtual Working Environment (2009)

The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel...

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei

Musculoskeletal disorder (MSD) is one of the major health problems in mechanical work especially in manual handling jobs. Muscle fatigue is believed to be the main reason for MSD. Posture analysis...

Dynamic Muscle Fatigue Evaluation in Virtual Working Environment (2009)

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei

Musculoskeletal disorder (MSD) is one of the major health problems in mechanical work especially in manual handling jobs. Muscle fatigue is believed to be the main reason for MSD. Posture analysis...

Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two...

Stiffness Analysis of Overconstrained Parallel Manipulators (2009)

Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...

Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two...

Stiffness Analysis of Overconstrained Parallel Manipulators (2009)

Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...

Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe

The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...

On the optimal design of parallel robots taking into account their deformations and natural frequencies (2009)

Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...

Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe

The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...

On the optimal design of parallel robots taking into account their deformations and natural frequencies (2009)

Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...

Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe

The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...

Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe

The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...

Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators (2009)

Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators (2009)

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the...

Design optimization of parallel manipulators for high-speed precision machining applications (2009)

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...

Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...

Design optimization of parallel manipulators for high-speed precision machining applications (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...

Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the...

Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis (2009)

Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the...

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace...

Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace...

Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra (2009)

Kanaan, Daniel, Wenger, Philippe, Caro, Stéphane, Chablat, Damien

This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform....

Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra (2009)

Kanaan, Daniel, Wenger, Philippe, Caro, Stéphane, Chablat, Damien

This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform....

Multi-Objective Optimisation Method for Posture Prediction and Analysis with Consideration of Fatigue Effect and its Application Case (2009)

Ma, Liang, Zhang, Wei, Chablat, Damien, Bennis, Fouad, Guillaume, François

Automation technique has been widely used in manufacturing industry, but there are still manual handling operations required in assembly and maintenance work in industry. Inappropriate posture and...

Multi-Objective Optimisation Method for Posture Prediction and Analysis with Consideration of Fatigue Effect and its Application Case (2009)

Ma, Liang, Zhang, Wei, Chablat, Damien, Bennis, Fouad, Guillaume, François

Automation technique has been widely used in manufacturing industry, but there are still manual handling operations required in assembly and maintenance work in industry. Inappropriate posture and...

Nonlinear Effects in Stiffness Modeling of Robotic Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien

The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint...

Nonlinear Effects in Stiffness Modeling of Robotic Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien

The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint...

Nonlinear Effects in Stiffness Modeling of Robotic Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien

The paper focuses on the enhanced stiffness modeling of robotic manipulators by taking into account influence of the external force/torque acting upon the end point. It implements the virtual joint...

Multi-Objective Optimisation Method for Posture Prediction and Analysis with Consideration of Fatigue Effect and its Application Case (2009)

Ma, Liang, Zhang, Wei, Chablat, Damien, Bennis, Fouad, Guillaume, François

Automation technique has been widely used in manufacturing industry, but there are still manual handling operations required in assembly and maintenance work in industry. Inappropriate posture and...

Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra (2009)

Kanaan, Daniel, Wenger, Philippe, Caro, Stéphane, Chablat, Damien

This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform....

Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)

Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the...

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to...

Design optimization of parallel manipulators for high-speed precision machining applications (2009)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the...

Accuracy Improvement for Stiffness Modeling of Parallel Manipulators (2009)

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that...

Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators (2009)

A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the...

Boyer, Frédéric, Chablat, Damien, Lemoine, Philippe, Wenger, Philippe

The aim of this project is to design, study and build an ``eel-like robot'' prototype able to swim in three dimensions. The study is based on the analysis of eel swimming and results in the...

On the optimal design of parallel robots taking into account their deformations and natural frequencies (2009)

Briot, Sébastien, Pashkevich, Anatoly, Chablat, Damien

This paper discusses the utility of using simple stiffness and vibrations models, based on the Jacobian matrix of a manipulator and only the rigidity of the actuators, whenever its geometry is...

Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two...

Stiffness Analysis of Overconstrained Parallel Manipulators (2009)

Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter...

Dynamic Muscle Fatigue Evaluation in Virtual Working Environment (2009)

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei

Musculoskeletal disorder (MSD) is one of the major health problems in mechanical work especially in manual handling jobs. Muscle fatigue is believed to be the main reason for MSD. Posture analysis...

Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine (2009)

Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis (2009)

The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel...

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)

Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the...

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis (2009)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2009)

Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the...

Pashkevich, Anatoly, Klimchik, Alexandr, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine (2008)

Analyse de la rigidit\'e des machines outils 3 axes d'architecture parall\`ele hyperstatique (2008)

The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures (2008)

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures (2008)

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be...

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures (2008)

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be...

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures (2008)

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be...

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures (2008)

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be...

A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be...

Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

A new muscle fatigue and recovery model and its ergonomics application in human simulation (2008)

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei, Guillaume, François

Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and...

A new muscle fatigue and recovery model and its ergonomics application in human simulation (2008)

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei, Guillaume, François

Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots (2008)

Bonev, Ilian, Briot, Sébastien, Wenger, Philippe, Chablat, Damien

This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where...

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots (2008)

Bonev, Ilian, Briot, Sébastien, Wenger, Philippe, Chablat, Damien

This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where...

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots (2008)

Bonev, Ilian, Briot, Sébastien, Wenger, Philippe, Chablat, Damien

This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where...

Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation (2008)

Rakotomanga, Novona, Chablat, Damien, Caro, Stéphane

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance...

Kinematic and Dynamic Analyses of the Orthoglide 5-axis (2008)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof...

Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra (2008)

Framework for Dynamic Evaluation of Muscle Fatigue in Manual Handling Work (2008)

This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Pl\"ucker vector of lines (finite and...

Ma, Liang, Bennis, Fouad, Chablat, Damien, Zhang, Wei

Muscle fatigue is defined as the point at which the muscle is no longer able to sustain the required force or work output level. The overexertion of muscle force and muscle fatigue can induce acute...

SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra (2008)

Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...

Self-Motions of General 3-RPR Planar Parallel Robots (2008)

Briot, Sébastien, Bonev, Ilian, Chablat, Damien, Wenger, Philippe, Arakelian, Vigen

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large...

Kinematic Analysis of the vertebra of an eel like robot (2008)

Kinematic Analysis of the vertebra of an eel like robot (2008)

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like...

Self-Motions of General 3-RPR Planar Parallel Robots (2008)

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like...

Briot, Sébastien, Bonev, Ilian, Chablat, Damien, Wenger, Philippe, Arakelian, Vigen

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large...

Self-Motions of General 3-RPR Planar Parallel Robots (2008)

Briot, Sébastien, Bonev, Ilian, Chablat, Damien, Wenger, Philippe, Arakelian, Vigen

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large...

Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation (2008)

Rakotomanga, Novona, Chablat, Damien, Caro, Stéphane

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance...

SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra (2008)

Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...

Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra (2008)

Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation (2008)

This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and...

Rakotomanga, Novona, Chablat, Damien, Caro, Stéphane

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance...

SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra (2008)

Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...

Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra (2008)

Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique (2008)

This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Kinematic Analysis of the vertebra of an eel like robot (2008)

Contributions à lanalyse et à loptimisation de mécanismes poly-articulés (2008)

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like...

Kinematic and Dynamic Analyses of the Orthoglide 5-axis (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à lIRCCyN et à lUniversité McGill sur l'analyse et la conception de mécanismes. Concernant lanalyse de mécanisme, jai...

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof...

Kinematic and Dynamic Analyses of the Orthoglide 5-axis (2008)

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof...

A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)

Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...

A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)

Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...

Framework for Dynamic Evaluation of Muscle Fatigue in Manual Handling Work (2008)

Ma, Liang, Bennis, Fouad, Chablat, Damien, Zhang, Wei

Muscle fatigue is defined as the point at which the muscle is no longer able to sustain the required force or work output level. The overexertion of muscle force and muscle fatigue can induce acute...

Framework for Dynamic Evaluation of Muscle Fatigue in Manual Handling Work (2008)

Ma, Liang, Bennis, Fouad, Chablat, Damien, Zhang, Wei

Muscle fatigue is defined as the point at which the muscle is no longer able to sustain the required force or work output level. The overexertion of muscle force and muscle fatigue can induce acute...

THE ISOCONDITIONING LOCI OF PLANAR THREE-DOF PARALLEL MANIPULATORS (2008)

Damien Chablat, Stéphane Caro

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of threedegree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations...

Balanced Virtual Humans Interacting with their Environment (2008)

Antoine Rennuit, Alain Micaelli, Xavier Merlhiot, Claude Andriot, François Guillaume, Nicolas Chevassus, ...

passivity

Contributions à l'analyse et à l'optimisation de mécanismes poly-articulés (2008)

Contributions à l'analyse et à l'optimisation de mécanismes poly-articulés (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à l'IRCCyN et à l'Université McGill sur l'analyse et la conception de mécanismes. Concernant l'analyse de mécanisme, j'ai suivi...

Contributions à l'analyse et à l'optimisation de mécanismes poly-articulés (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à l'IRCCyN et à l'Université McGill sur l'analyse et la conception de mécanismes. Concernant l'analyse de mécanisme, j'ai suivi...

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à l'IRCCyN et à l'Université McGill sur l'analyse et la conception de mécanismes. Concernant l'analyse de mécanisme, j'ai suivi...

Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)

When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)

When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...

Kinematic Analysis of the vertebra of an eel like robot (2008)

When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...

Contributions à lanalyse et à loptimisation de mécanismes poly-articulés (2008)

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like...

Contributions à l’analyse et à l’optimisation de mécanismes poly-articulés (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à lIRCCyN et à lUniversité McGill sur l'analyse et la conception de mécanismes. Concernant lanalyse de mécanisme, jai...

Contributions à l’analyse et à l’optimisation de mécanismes poly-articulés (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à l’IRCCyN et à l’Université McGill sur l'analyse et la conception de mécanismes. Concernant l’analyse de mécanisme,...

Kinematic Analysis of the vertebra of an eel like robot (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à l’IRCCyN et à l’Université McGill sur l'analyse et la conception de mécanismes. Concernant l’analyse de mécanisme,...

Self-Motions of General 3-RPR Planar Parallel Robots (2008)

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like...

Briot, Sébastien, Bonev, Ilian, Chablat, Damien, Wenger, Philippe, Arakelian, Vigen

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large...

Self-Motions of General 3-RPR Planar Parallel Robots (2008)

Briot, Sébastien, Bonev, Ilian, Chablat, Damien, Wenger, Philippe, Arakelian, Vigen

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large...

SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra (2008)

Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...

Framework for Dynamic Evaluation of Muscle Fatigue in Manual Handling Work (2008)

Ma, Liang, Bennis, Fouad, Chablat, Damien, Zhang, Wei

Muscle fatigue is defined as the point at which the muscle is no longer able to sustain the required force or work output level. The overexertion of muscle force and muscle fatigue can induce acute...

Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra (2008)

Kinematic and Dynamic Analyses of the Orthoglide 5-axis (2008)

This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and...

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof...

Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation (2008)

Rakotomanga, Novona, Chablat, Damien, Caro, Stéphane

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance...

SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra (2008)

Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...

Framework for Dynamic Evaluation of Muscle Fatigue in Manual Handling Work (2008)

Ma, Liang, Bennis, Fouad, Chablat, Damien, Zhang, Wei

Muscle fatigue is defined as the point at which the muscle is no longer able to sustain the required force or work output level. The overexertion of muscle force and muscle fatigue can induce acute...

Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra (2008)

Kinematic and Dynamic Analyses of the Orthoglide 5-axis (2008)

This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and...

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof...

Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation (2008)

Rakotomanga, Novona, Chablat, Damien, Caro, Stéphane

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance...

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots (2008)

Bonev, Ilian, Briot, Sébastien, Wenger, Philippe, Chablat, Damien

This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where...

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots (2008)

Bonev, Ilian, Briot, Sébastien, Wenger, Philippe, Chablat, Damien

This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)

Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...

A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)

Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures (2008)

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures (2008)

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be...

Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique (2008)

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

A new muscle fatigue and recovery model and its ergonomics application in human simulation (2008)

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei, Guillaume, François

Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and...

A new muscle fatigue and recovery model and its ergonomics application in human simulation (2008)

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei, Guillaume, François

Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and...

Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe, Gomolitsky, Roman

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe, Gomolitsky, Roman

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe, Gomolitsky, Roman

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

A Vision-based Computed Torque Control for Parallel Kinematic Machines (2008)

Paccot, Flavien, Lemoine, Philippe, Andreff, Nicolas, Chablat, Damien, Martinet, Philippe

In this paper, a novel approach for parallel kinematic machine control relying on a fast exteroceptive measure is implemented and validated on the Orthoglide robot. This approach begins with...

A new muscle fatigue and recovery model and its ergonomics application in human simulation (2008)

Ma, Liang, Chablat, Damien, Bennis, Fouad, Zhang, Wei, Guillaume, François

Although automatic techniques have been employed in manufacturing industries to increase productivity and efficiency, there are still lots of manual handling jobs, especially for assembly and...

Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation (2008)

Rakotomanga, Novona, Chablat, Damien, Caro, Stéphane

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance...

Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures (2008)

Stiffness Analysis Of Multi-Chain Parallel Robotic Systems (2008)

In order to optimise the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products. However, in order to be...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a...

Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots (2008)

Bonev, Ilian, Briot, Sébastien, Wenger, Philippe, Chablat, Damien

This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where...

SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra (2008)

Ben-Horin, Patricia, Shoham, Moshe, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and...

Framework for Dynamic Evaluation of Muscle Fatigue in Manual Handling Work (2008)

Ma, Liang, Bennis, Fouad, Chablat, Damien, Zhang, Wei

Muscle fatigue is defined as the point at which the muscle is no longer able to sustain the required force or work output level. The overexertion of muscle force and muscle fatigue can induce acute...

Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra (2008)

Kinematic and Dynamic Analyses of the Orthoglide 5-axis (2008)

This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and...

Ur-Rehman, Raza, Caro, Stéphane, Chablat, Damien, Wenger, Philippe

This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof...

Self-Motions of General 3-RPR Planar Parallel Robots (2008)

Briot, Sébastien, Bonev, Ilian, Chablat, Damien, Wenger, Philippe, Arakelian, Vigen

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large...

Contributions à l'analyse et à l'optimisation de mécanismes poly-articulés (2008)

Kinematic Analysis of the vertebra of an eel like robot (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à l'IRCCyN et à l'Université McGill sur l'analyse et la conception de mécanismes. Concernant l'analyse de mécanisme, j'ai suivi...

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)

The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like...

Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)

When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations (2008)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe, Gomolitsky, Roman

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Contributions à l'analyse et à l'optimisation de mécanismes poly-articulés (2008)

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à l'IRCCyN et à l'Université McGill sur l'analyse et la conception de mécanismes. Concernant l'analyse de mécanisme, j'ai suivi...

Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)

When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Contributions à l'analyse et à l'optimisation de mécanismes poly-articulés (2008)

Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations (2008)

Dans ce mémoire, je présente les recherches que j'ai effectuées à l'IRCCyN et à l'Université McGill sur l'analyse et la conception de mécanismes. Concernant l'analyse de mécanisme, j'ai suivi...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe, Gomolitsky, Roman

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators (2008)

Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators (2008)

When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional...

Kinematic calibration of orthoglide-type mechanisms (2007)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...

Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)

Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping (2007)

This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....

Rennuit, Antoine, Micaelli, Alain, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, Chablat, Damien, ...

In the industry, numerous commercial packages provide tools to introduce, and analyse human behaviour in the product's environment (for maintenance, ergonomics...), thanks to Virtual Humans. We will...

An Integrated Simulation System for Human Factors Study (2007)

Wang, Ying, Zhang, Wei, Bennis, Fouad, Chablat, Damien

It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D...

A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions (2007)

Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine (2007)

Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes...

Caro, Stéphane, Wenger, Philippe, Bennis, Fouad, Chablat, Damien

This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2007)

Chablat, Damien, Wenger, Philippe, Caro, Stéphane, Angeles, Jorge

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations...

Kinematic analysis of the 3-RPR parallel manipulator (2007)

Working and Assembly Modes of the Agile Eye (2007)

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the...

Parametric Stiffness Analysis of the Orthoglide (2007)

This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in...

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an...

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2007)

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...

An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications (2007)

Parametric stiffness analysis of the Orthoglide (2007)

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis...

Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2007)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide (2007)

An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines (2007)

This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed...

Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...

Virtual Manufacturing : Tools for improving Design and Production (2007)

Dépincé, Philippe, Chablat, Damien, Woelk, Peer-Oliver

The research area "Virtual Manufacturing" can be defined as an integrated manufacturing environment which can enhance one or several levels of decision and control in manufacturing process. Several...

A Comparative Study of Parallel Kinematic Architectures for Machining Applications (2007)

Wenger, Philippe, Gosselin, Clément, Chablat, Damien

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this...

Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide (2007)

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2007)

This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a...

Workspace and Kinematic Analysis of the VERNE machine (2007)

A spherical wrist of the serial type is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all identical and nonzero. What isotropy brings about is...

The Kinetostatic Optimization of a Novel Prismatic Drive (2007)

This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed...

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Analyse Comparative des Manipulateurs 3R \`a Axes Orthogonaux (2007)

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the...

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications (2007)

A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular...

Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping (2007)

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper, we describe the...

Balanced Virtual Humans Interacting with their Environment (2007)

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheless, the animation...

Virtual reality: A human centered tool for improving Manufacturing (2007)

A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye (2007)

Manufacturing is using Virtual Reality tools to enhance the product life cycle. Their definitions are still in flux and it is necessary to define their connections. Thus, firstly, we will introduce...

L'orthoglide : une machine-outil rapide d'architecture parall\`ele isotrope (2007)

The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second...

Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances (2007)

This article presents the Orthoglide project. The purpose of this project is the realization of a prototype of machine tool to three degrees of translation. The characteristic of this machine is a...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...

A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis (2007)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...

The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends (2007)

Chablat, Damien, Dépincé, Philippe, Noël, Eric, Woelk, Peer-Oliver

The research area "Virtual Manufacturing (VM)'' is the use of information technology and computer simulation to model real world manufacturing processes for the purpose of analysing and understanding...

A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace (2007)

Animation of virtual mannequins, robot-like simulation or motion captures (2007)

A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross...

A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback (2007)

In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model....

Zhang, Qinqin, Chablat, Damien, Bennis, Fouad, Zhang, Wei

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular...

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot (2007)

Passive Control Architecture for Virtual Humans (2007)

The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and...

Mod\'elisation Dynamique d'un Robot Parall\`ele \`a 3-DDL : l'Orthoglide (2007)

Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe

In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...

Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)

Kinematic Analysis of a Family of 3R Manipulators (2007)

This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2007)

The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology...

A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)

A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to sqrt(n/3). What...

Moveability and Collision Analysis for Fully-Parallel Manipulators (2007)

This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...

Working Modes and Aspects in Fully-Parallel Manipulator (2007)

The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or...

The Isoconditioning Loci of A Class of Closed-Chain Manipulators (2007)

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can...

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study (2007)

The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the...

Conception Isotropique D'Une Morphologie Parall\`Ele : Application \`a L'Usinage (2007)

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The...

A distributed Approach for Access and Visibility Task under Ergonomic Constraints with a Manikin in a Virtual Reality Environment (2007)

The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free...

Bidault, Florence, Chablat, Damien, Chedmail, Patrick, Pino, Laurent

This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic...

The Kinematics of Manipulators Built From Closed Planar Mechanisms (2007)

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2007)

The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising...

Workspace Analysis of the Parallel Module of the VERNE Machine (2007)

This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...

The Orthoglide: Kinematics and Workspace Analysis (2007)

The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

Subjective Evaluation of Forms in an Immersive Environment (2007)

Realistic Rendering of Kinetostatic Indices of Mechanisms (2007)

User's perception of product, by essence subjective, is a major topic in marketing and industrial design. Many methods, based on users' tests, are used so as to characterise this perception. We are...

A New Concept of Modular Parallel Mechanism for Machining Applications (2007)

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of...

A Workspace based Classification of 3R Orthogonal Manipulators (2007)

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or...

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators (2007)

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a...

Kinematics analysis of the parallel module of the VERNE machine (2007)

In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...

An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2007)

The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool....

Kinematic Calibration of the Orthoglide-Type Mechanisms (2007)

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine (2007)

Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design...

Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide (2007)

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2007)

The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to...

Chablat, Damien, Caro, Stéphane, Wenger, Philippe, Angeles, Jorge

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations...

A Novel method for the design of 2-DOF Parallel mechanisms for machining applications (2007)

Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide (2007)

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative...

Workspace Analysis of the Orthoglide using Interval Analysis (2007)

The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which...

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...

P\'eriph\'eriques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop (2007)

Chablat, Damien, Bennis, Fouad, Hoessler, Bernard, Guibert, Matthieu

This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The...

The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications (2007)

Classification of one family of 3R positioning Manipulators (2007)

The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but...

Strategies for the Design of a Slide-o-Cam Transmission (2007)

The aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic...

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators (2007)

The optimization of the pressure angle in a cam-follower transmission is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common...

The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria (2007)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

S\'eparation des Solutions aux Mod\`eles G\'eom\'etriques Direct et Inverse pour les Manipulateurs Pleinement Parall\`eles (2007)

Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some...

On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators (2007)

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes...

The Multiobjective Optimization of a Prismatic Drive (2007)

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying...

Bouyer, Emilie, Caro, Stéphane, Chablat, Damien, Angeles, Jorge

The multiobjective optimization of Slide-o-Cam is reported in this paper. Slide-o-Cam is a cam mechanism with multiple rollers mounted on a common translating follower. This transmission provides...

On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures (2007)

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator (2007)

Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number...

Uniqueness Domains in the Workspace of Parallel Manipulators (2007)

Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only...

The Kinematic design of a 3-dof Hybrid Manipulator (2007)

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint...

Definition sets for the Direct Kinematics of Parallel Manipulators (2007)

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one...

A New Three-DOF Parallel Mechanism: Milling Machine Applications (2007)

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial...

This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally...

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

The Multiobjective Optimization of a Prismatic Drive (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Bouyer, Emilie, Caro, Stéphane, Chablat, Damien, Angeles, Jorge

The multiobjective optimization of Slide-o-Cam is reported in this paper. Slide-o-Cam is a cam mechanism with multiple rollers mounted on a common translating follower. This transmission provides...

Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)

Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators (2007)

Kinematics analysis of the parallel module of the VERNE machine (2007)

In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...

Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)

The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool....

A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)

This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...

Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances (2007)

This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...

Workspace and Kinematic Analysis of the VERNE machine (2007)

The Kinetostatic Optimization of a Novel Prismatic Drive (2007)

This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed...

Parametric stiffness analysis of the Orthoglide (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis...

Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)

Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)

This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....

Parametric stiffness analysis of the Orthoglide (2007)

This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis...

The Kinetostatic Optimization of a Novel Prismatic Drive (2007)

Workspace and Kinematic Analysis of the VERNE machine (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances (2007)

This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...

A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)

Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)

This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...

Kinematics analysis of the parallel module of the VERNE machine (2007)

This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators (2007)

The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool....

The Multiobjective Optimization of a Prismatic Drive (2007)

In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...

Bouyer, Emilie, Caro, Stéphane, Chablat, Damien, Angeles, Jorge

The multiobjective optimization of Slide-o-Cam is reported in this paper. Slide-o-Cam is a cam mechanism with multiple rollers mounted on a common translating follower. This transmission provides...

Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)

Parametric stiffness analysis of the Orthoglide (2007)

This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis...

The Kinetostatic Optimization of a Novel Prismatic Drive (2007)

Workspace and Kinematic Analysis of the VERNE machine (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances (2007)

This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...

A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)

Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)

This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...

Kinematics analysis of the parallel module of the VERNE machine (2007)

This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators (2007)

The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool....

The Multiobjective Optimization of a Prismatic Drive (2007)

In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...

Bouyer, Emilie, Caro, Stéphane, Chablat, Damien, Angeles, Jorge

The multiobjective optimization of Slide-o-Cam is reported in this paper. Slide-o-Cam is a cam mechanism with multiple rollers mounted on a common translating follower. This transmission provides...

Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)

Parametric stiffness analysis of the Orthoglide (2007)

This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis...

The Kinetostatic Optimization of a Novel Prismatic Drive (2007)

Workspace and Kinematic Analysis of the VERNE machine (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances (2007)

This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...

A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)

Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)

This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...

Kinematics analysis of the parallel module of the VERNE machine (2007)

This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators (2007)

The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool....

The Multiobjective Optimization of a Prismatic Drive (2007)

In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...

Bouyer, Emilie, Caro, Stéphane, Chablat, Damien, Angeles, Jorge

The multiobjective optimization of Slide-o-Cam is reported in this paper. Slide-o-Cam is a cam mechanism with multiple rollers mounted on a common translating follower. This transmission provides...

Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2007)

Mazen Zein, Damien Chablat

Abstract — This paper investigates the singular curves in twodimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp...

Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators (2007)

Parametric stiffness analysis of the Orthoglide (2007)

This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves....

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide. A compliant modeling and a symbolic expression of the stiffness matrix are conducted. This allows a simple systematic analysis...

The Kinetostatic Optimization of a Novel Prismatic Drive (2007)

Workspace and Kinematic Analysis of the VERNE machine (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances (2007)

This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular...

A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications (2007)

Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators (2007)

This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to...

Kinematics analysis of the parallel module of the VERNE machine (2007)

This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises...

Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators (2007)

The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool....

The Multiobjective Optimization of a Prismatic Drive (2007)

In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes...

Bouyer, Emilie, Caro, Stéphane, Chablat, Damien, Angeles, Jorge

The multiobjective optimization of Slide-o-Cam is reported in this paper. Slide-o-Cam is a cam mechanism with multiple rollers mounted on a common translating follower. This transmission provides...

Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (2007)

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted...

Pashkevich, Anatoly, Gomolitsky, Roman, Wenger, Philippe, Chablat, Damien

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator...

Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe

L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...

Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe

L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...

The Isoconditioning Loci of Planar Three-Dof Parallel Manipulators (2006)

Caro, Stéphane, Chablat, Damien, Wenger, Philippe, Angeles, Jorge

This paper deals with a special class of three-degree-of-freedom parallel manipulators. First, the singular configurations of the two Jacobian matrices are studied. The isotropic configurations are...

The Isoconditioning Loci of Planar Three-Dof Parallel Manipulators (2006)

Caro, Stéphane, Chablat, Damien, Wenger, Philippe, Angeles, Jorge

This paper deals with a special class of three-degree-of-freedom parallel manipulators. First, the singular configurations of the two Jacobian matrices are studied. The isotropic configurations are...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (2006)

Stratégies de conception pour optimiser la transmission Slide-o-cam (2006)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Kinematic Calibration of the Orthoglide-Type Mechanisms (2006)

L'optimisation de l'angle de pression dans la transmission Slide-o-Cam est rapportée dans cet article. Cette transmission est basée sur le mécanisme Slide-o-Cam, un mécanisme à cames associées...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...

An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2006)

Workspace Analysis of the Parallel Module of the VERNE Machine (2006)

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2006)

The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists...

A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback (2006)

This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...

Zhang, Qinqin, Chablat, Damien, Bennis, Fouad, Zhang, Wei

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular...

Animation of virtual mannequins, robot-like simulation or motion captures (2006)

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye (2006)

In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model....

Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2006)

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications (2006)

Kinematic analysis of the 3-RPR parallel manipulator (2006)

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the...

Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine (2006)

This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in...

Caro, Stéphane, Wenger, Philippe, Bennis, Fouad, Chablat, Damien

This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional...

Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks (2006)

Moreno, Hector, Pamanes, Alfonso, Wenger, Philippe, Chablat, Damien

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered...

An Integrated Simulation System for Human Factors Study (2006)

Wang, Ying, Zhang, Wei, Bennis, Fouad, Chablat, Damien

It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D...

Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe

L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...

Kinematic calibration of orthoglide-type mechanisms (2006)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...

Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe

L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...

Kinematic calibration of orthoglide-type mechanisms (2006)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...

Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks (2006)

Moreno, Hector, Pamanes, Alfonso, Wenger, Philippe, Chablat, Damien

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered...

An Integrated Simulation System for Human Factors Study (2006)

Wang, Ying, Zhang, Wei, Bennis, Fouad, Chablat, Damien

It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D...

Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine (2006)

Caro, Stéphane, Wenger, Philippe, Bennis, Fouad, Chablat, Damien

This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional...

Kinematic analysis of the 3-RPR parallel manipulator (2006)

This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in...

An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications (2006)

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the...

Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2006)

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye (2006)

A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback (2006)

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the...

Zhang, Qinqin, Chablat, Damien, Bennis, Fouad, Zhang, Wei

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular...

Animation of virtual mannequins, robot-like simulation or motion captures (2006)

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2006)

In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model....

Workspace Analysis of the Parallel Module of the VERNE Machine (2006)

This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...

An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2006)

The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists...

Stratégies de conception pour optimiser la transmission Slide-o-cam (2006)

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...

Kinematic Calibration of the Orthoglide-Type Mechanisms (2006)

L'optimisation de l'angle de pression dans la transmission Slide-o-Cam est rapportée dans cet article. Cette transmission est basée sur le mécanisme Slide-o-Cam, un mécanisme à cames associées...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...

Boyer, Frédéric, Alamir, Mazen, Chablat, Damien, Khalil, Wisama, Leroyer, Alban, Lemoine, Philippe

L'objectif de ce projet soutenu par le programme ROBEA CNRS est de concevoir, étudier et réaliser un robot « anguille » capable de nager en trois dimensions. Pour cela nous étudions sur la base...

Kinematic calibration of orthoglide-type mechanisms (2006)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...

Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks (2006)

Moreno, Hector, Pamanes, Alfonso, Wenger, Philippe, Chablat, Damien

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered...

An Integrated Simulation System for Human Factors Study (2006)

Wang, Ying, Zhang, Wei, Bennis, Fouad, Chablat, Damien

It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D...

Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine (2006)

Caro, Stéphane, Wenger, Philippe, Bennis, Fouad, Chablat, Damien

This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional...

Kinematic analysis of the 3-RPR parallel manipulator (2006)

This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in...

An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications (2006)

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the...

Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2006)

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye (2006)

A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback (2006)

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the...

Zhang, Qinqin, Chablat, Damien, Bennis, Fouad, Zhang, Wei

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular...

Animation of virtual mannequins, robot-like simulation or motion captures (2006)

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2006)

In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model....

Workspace Analysis of the Parallel Module of the VERNE Machine (2006)

This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...

An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2006)

The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists...

Stratégies de conception pour optimiser la transmission Slide-o-cam (2006)

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...

Kinematic Calibration of the Orthoglide-Type Mechanisms (2006)

L'optimisation de l'angle de pression dans la transmission Slide-o-Cam est rapportée dans cet article. Cette transmission est basée sur le mécanisme Slide-o-Cam, un mécanisme à cames associées...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...

Kinematic calibration of orthoglide-type mechanisms (2006)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...

Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks (2006)

Moreno, Hector, Pamanes, Alfonso, Wenger, Philippe, Chablat, Damien

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered...

An Integrated Simulation System for Human Factors Study (2006)

Wang, Ying, Zhang, Wei, Bennis, Fouad, Chablat, Damien

It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D...

Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine (2006)

Caro, Stéphane, Wenger, Philippe, Bennis, Fouad, Chablat, Damien

This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional...

Kinematic analysis of the 3-RPR parallel manipulator (2006)

This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in...

An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications (2006)

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the...

Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2006)

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye (2006)

A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback (2006)

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the...

Zhang, Qinqin, Chablat, Damien, Bennis, Fouad, Zhang, Wei

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular...

Animation of virtual mannequins, robot-like simulation or motion captures (2006)

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2006)

In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model....

Workspace Analysis of the Parallel Module of the VERNE Machine (2006)

This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...

An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2006)

The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists...

Stratégies de conception pour optimiser la transmission Slide-o-cam (2006)

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...

Kinematic Calibration of the Orthoglide-Type Mechanisms (2006)

L'optimisation de l'angle de pression dans la transmission Slide-o-Cam est rapportée dans cet article. Cette transmission est basée sur le mécanisme Slide-o-Cam, un mécanisme à cames associées...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...

The Isoconditioning Loci of Planar Three-Dof Parallel Manipulators (2006)

Caro, Stéphane, Chablat, Damien, Wenger, Philippe, Angeles, Jorge

This paper deals with a special class of three-degree-of-freedom parallel manipulators. First, the singular configurations of the two Jacobian matrices are studied. The isotropic configurations are...

Kinematic calibration of orthoglide-type mechanisms (2006)

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It...

Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks (2006)

Moreno, Hector, Pamanes, Alfonso, Wenger, Philippe, Chablat, Damien

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered...

An Integrated Simulation System for Human Factors Study (2006)

Wang, Ying, Zhang, Wei, Bennis, Fouad, Chablat, Damien

It has been reported that virtual reality can be a useful tool for ergonomics study. The proposed integrated simulation system aims at measuring operator's performance in an interactive way for 2D...

Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine (2006)

Caro, Stéphane, Wenger, Philippe, Bennis, Fouad, Chablat, Damien

This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional...

Kinematic analysis of the 3-RPR parallel manipulator (2006)

This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in...

An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications (2006)

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the...

Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (2006)

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye (2006)

A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback (2006)

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the...

Zhang, Qinqin, Chablat, Damien, Bennis, Fouad, Zhang, Wei

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular...

Animation of virtual mannequins, robot-like simulation or motion captures (2006)

Singular curves and cusp points in the joint space of 3-RPR parallel manipulators (2006)

In order to optimize the costs and time of design of the new products while improving their quality, concurrent engineering is based on the digital model of these products, the numerical model....

Workspace Analysis of the Parallel Module of the VERNE Machine (2006)

This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which...

An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators (2006)

The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists...

Stratégies de conception pour optimiser la transmission Slide-o-cam (2006)

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which...

Kinematic Calibration of the Orthoglide-Type Mechanisms (2006)

L'optimisation de l'angle de pression dans la transmission Slide-o-Cam est rapportée dans cet article. Cette transmission est basée sur le mécanisme Slide-o-Cam, un mécanisme à cames associées...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during motions between the prespecified test postures. It...

Strategies for the Design of a Slide-o-Cam Transmission (2005)

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot (2005)

The optimization of the pressure angle in a cam-follower transmission is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common...

Passive Control Architecture for Virtual Humans (2005)

The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and...

Virtual reality: A human centered tool for improving Manufacturing (2005)

A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye (2005)

Manufacturing is using Virtual Reality tools to enhance the product life cycle. Their definitions are still in flux and it is necessary to define their connections. Thus, firstly, we will introduce...

Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping (2005)

The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper, we describe the...

Balanced Virtual Humans Interacting with their Environment (2005)

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheless, the animation...

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications (2005)

Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux (2005)

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2005)

A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...

A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions (2005)

A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions (2005)

Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes...

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2005)

Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...

A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye (2005)

Virtual reality: A human centered tool for improving Manufacturing (2005)

The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second...

Balanced Virtual Humans Interacting with their Environment (2005)

Manufacturing is using Virtual Reality tools to enhance the product life cycle. Their definitions are still in flux and it is necessary to define their connections. Thus, firstly, we will introduce...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheless, the animation...

Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping (2005)

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper, we describe the...

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications (2005)

Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux (2005)

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...

Passive Control Architecture for Virtual Humans (2005)

A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and...

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot (2005)

Strategies for the Design of a Slide-o-Cam Transmission (2005)

The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of...

A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions (2005)

The optimization of the pressure angle in a cam-follower transmission is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common...

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2005)

Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...

A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye (2005)

Virtual reality: A human centered tool for improving Manufacturing (2005)

The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second...

Balanced Virtual Humans Interacting with their Environment (2005)

Manufacturing is using Virtual Reality tools to enhance the product life cycle. Their definitions are still in flux and it is necessary to define their connections. Thus, firstly, we will introduce...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheless, the animation...

Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping (2005)

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper, we describe the...

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications (2005)

Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux (2005)

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...

Passive Control Architecture for Virtual Humans (2005)

A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and...

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot (2005)

Strategies for the Design of a Slide-o-Cam Transmission (2005)

The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of...

A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions (2005)

The optimization of the pressure angle in a cam-follower transmission is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common...

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2005)

Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...

A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye (2005)

Virtual reality: A human centered tool for improving Manufacturing (2005)

The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second...

Balanced Virtual Humans Interacting with their Environment (2005)

Manufacturing is using Virtual Reality tools to enhance the product life cycle. Their definitions are still in flux and it is necessary to define their connections. Thus, firstly, we will introduce...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheless, the animation...

Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping (2005)

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper, we describe the...

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications (2005)

Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux (2005)

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...

Passive Control Architecture for Virtual Humans (2005)

A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and...

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot (2005)

Strategies for the Design of a Slide-o-Cam Transmission (2005)

The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of...

A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions (2005)

The optimization of the pressure angle in a cam-follower transmission is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common...

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2005)

Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with orthogonal joint axes...

Pashkevich, Anatoly, Wenger, Philippe, Chablat, Damien

The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both serial mechanisms...

A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye (2005)

Virtual reality: A human centered tool for improving Manufacturing (2005)

The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second...

Balanced Virtual Humans Interacting with their Environment (2005)

Manufacturing is using Virtual Reality tools to enhance the product life cycle. Their definitions are still in flux and it is necessary to define their connections. Thus, firstly, we will introduce...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The animation of human avatars seems very successful; the computer graphics industry shows outstanding results in films everyday, the game industry achieves exploits... Nevertheless, the animation...

Integration of a Balanced Virtual Manikin in a Virtual Reality Platform aimed at Virtual Prototyping (2005)

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

The work presented here is aimed at introducing a virtual human controller in a virtual prototyping framework. After a brief introduction describing the problem solved in the paper, we describe the...

An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications (2005)

Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux (2005)

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups...

Passive Control Architecture for Virtual Humans (2005)

A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular...

Rennuit, Antoine, Micaelli, Alain, Merlhiot, Xavier, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, ...

In the present paper, we introduce a new control architecture aimed at driving virtual humans in interaction with virtual environments, by motion capture. It brings decoupling of functionalities, and...

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot (2005)

Strategies for the Design of a Slide-o-Cam Transmission (2005)

The design of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger project, which aims to design and to build an eel robot for inspection of...

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator (2004)

The optimization of the pressure angle in a cam-follower transmission is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common...

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine (2004)

Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only...

A Workspace based Classification of 3R Orthogonal Manipulators (2004)

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design...

The Orthoglide: Kinematics and Workspace Analysis (2004)

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

Kinematic Analysis of a Family of 3R Manipulators (2004)

The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends (2004)

The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology...

Chablat, Damien, Dépincé, Philippe, Noël, Eric, Woelk, Peer-Oliver

The research area "Virtual Manufacturing (VM)'' is the use of information technology and computer simulation to model real world manufacturing processes for the purpose of analysing and understanding...

A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace (2004)

A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis (2004)

A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross...

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...

Virtual Manufacturing : Tools for improving Design and Production (2004)

Dépincé, Philippe, Chablat, Damien, Woelk, Peer-Oliver

The research area "Virtual Manufacturing" can be defined as an integrated manufacturing environment which can enhance one or several levels of decision and control in manufacturing process. Several...

An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines (2004)

Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...

Parametric Stiffness Analysis of the Orhtoglide (2004)

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an...

Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping (2004)

Rennuit, Antoine, Micaelli, Alain, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, Chablat, Damien, ...

In the industry, numerous commercial packages provide tools to introduce, and analyse human behaviour in the product's environment (for maintenance, ergonomics...), thanks to Virtual Humans. We will...

Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping (2004)

Rennuit, Antoine, Micaelli, Alain, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, Chablat, Damien, ...

In the industry, numerous commercial packages provide tools to introduce, and analyse human behaviour in the product's environment (for maintenance, ergonomics...), thanks to Virtual Humans. We will...

Parametric Stiffness Analysis of the Orhtoglide (2004)

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an...

An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines (2004)

Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...

Virtual Manufacturing : Tools for improving Design and Production (2004)

Dépincé, Philippe, Chablat, Damien, Woelk, Peer-Oliver

The research area "Virtual Manufacturing" can be defined as an integrated manufacturing environment which can enhance one or several levels of decision and control in manufacturing process. Several...

A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace (2004)

The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends (2004)

A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross...

Chablat, Damien, Dépincé, Philippe, Noël, Eric, Woelk, Peer-Oliver

The research area "Virtual Manufacturing (VM)'' is the use of information technology and computer simulation to model real world manufacturing processes for the purpose of analysing and understanding...

A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis (2004)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...

Kinematic Analysis of a Family of 3R Manipulators (2004)

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator (2004)

The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology...

A Workspace based Classification of 3R Orthogonal Manipulators (2004)

Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only...

The Orthoglide: Kinematics and Workspace Analysis (2004)

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine (2004)

Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping (2004)

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design...

Rennuit, Antoine, Micaelli, Alain, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, Chablat, Damien, ...

In the industry, numerous commercial packages provide tools to introduce, and analyse human behaviour in the product's environment (for maintenance, ergonomics...), thanks to Virtual Humans. We will...

Parametric Stiffness Analysis of the Orhtoglide (2004)

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an...

An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines (2004)

Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...

Virtual Manufacturing : Tools for improving Design and Production (2004)

Dépincé, Philippe, Chablat, Damien, Woelk, Peer-Oliver

The research area "Virtual Manufacturing" can be defined as an integrated manufacturing environment which can enhance one or several levels of decision and control in manufacturing process. Several...

A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace (2004)

The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends (2004)

A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross...

Chablat, Damien, Dépincé, Philippe, Noël, Eric, Woelk, Peer-Oliver

The research area "Virtual Manufacturing (VM)'' is the use of information technology and computer simulation to model real world manufacturing processes for the purpose of analysing and understanding...

A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis (2004)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...

Kinematic Analysis of a Family of 3R Manipulators (2004)

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator (2004)

The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology...

A Workspace based Classification of 3R Orthogonal Manipulators (2004)

Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only...

The Orthoglide: Kinematics and Workspace Analysis (2004)

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine (2004)

Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping (2004)

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design...

Rennuit, Antoine, Micaelli, Alain, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, Chablat, Damien, ...

In the industry, numerous commercial packages provide tools to introduce, and analyse human behaviour in the product's environment (for maintenance, ergonomics...), thanks to Virtual Humans. We will...

Parametric Stiffness Analysis of the Orhtoglide (2004)

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an...

An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines (2004)

Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...

Virtual Manufacturing : Tools for improving Design and Production (2004)

Dépincé, Philippe, Chablat, Damien, Woelk, Peer-Oliver

The research area "Virtual Manufacturing" can be defined as an integrated manufacturing environment which can enhance one or several levels of decision and control in manufacturing process. Several...

A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace (2004)

The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends (2004)

A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross...

Chablat, Damien, Dépincé, Philippe, Noël, Eric, Woelk, Peer-Oliver

The research area "Virtual Manufacturing (VM)'' is the use of information technology and computer simulation to model real world manufacturing processes for the purpose of analysing and understanding...

A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis (2004)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...

Kinematic Analysis of a Family of 3R Manipulators (2004)

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator (2004)

The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology...

A Workspace based Classification of 3R Orthogonal Manipulators (2004)

Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only...

The Orthoglide: Kinematics and Workspace Analysis (2004)

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine (2004)

Designing a Virtual Manikin Animation Framework Aimed at Virtual Prototyping (2004)

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design...

Rennuit, Antoine, Micaelli, Alain, Andriot, Claude, Guillaume, François, Chevassus, Nicolas, Chablat, Damien, ...

In the industry, numerous commercial packages provide tools to introduce, and analyse human behaviour in the product's environment (for maintenance, ergonomics...), thanks to Virtual Humans. We will...

Parametric Stiffness Analysis of the Orhtoglide (2004)

Majou, Félix, Gosselin, Clément, Wenger, Philippe, Chablat, Damien

This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an...

An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines (2004)

Chablat, Damien, Wenger, Philippe, Majou, Félix, Merlet, Jean-Pierre

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace...

Virtual Manufacturing : Tools for improving Design and Production (2004)

Dépincé, Philippe, Chablat, Damien, Woelk, Peer-Oliver

The research area "Virtual Manufacturing" can be defined as an integrated manufacturing environment which can enhance one or several levels of decision and control in manufacturing process. Several...

A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace (2004)

The Virtual Manufacturing concept: Scope, Socio-Economic Aspects and Future Trends (2004)

A classification of a family of 3-revolute (3R) positining manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross...

Chablat, Damien, Dépincé, Philippe, Noël, Eric, Woelk, Peer-Oliver

The research area "Virtual Manufacturing (VM)'' is the use of information technology and computer simulation to model real world manufacturing processes for the purpose of analysing and understanding...

A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis (2004)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of...

Kinematic Analysis of a Family of 3R Manipulators (2004)

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator (2004)

The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology...

A Workspace based Classification of 3R Orthogonal Manipulators (2004)

Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only...

The Orthoglide: Kinematics and Workspace Analysis (2004)

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a...

Pashkevich, Anatoly, Chablat, Damien, Wenger, Philippe

The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three...

The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine (2004)

Subjective Evaluation of Forms in an Immersive Environment (2003)

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design...

Realistic Rendering of Kinetostatic Indices of Mechanisms (2003)

User's perception of product, by essence subjective, is a major topic in marketing and industrial design. Many methods, based on users' tests, are used so as to characterise this perception. We are...

A New Concept of Modular Parallel Mechanism for Machining Applications (2003)

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of...

Classification of one family of 3R positioning Manipulators (2003)

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or...

The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications (2003)

The aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2003)

The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but...

Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide (2003)

A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to sqrt(n/3). What...

Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide (2003)

This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed...

The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications (2003)

This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2003)

The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but...

A New Concept of Modular Parallel Mechanism for Machining Applications (2003)

A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to sqrt(n/3). What...

Realistic Rendering of Kinetostatic Indices of Mechanisms (2003)

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or...

Subjective Evaluation of Forms in an Immersive Environment (2003)

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of...

Classification of one family of 3R positioning Manipulators (2003)

User's perception of product, by essence subjective, is a major topic in marketing and industrial design. Many methods, based on users' tests, are used so as to characterise this perception. We are...

Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide (2003)

The aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic...

The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications (2003)

This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2003)

The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but...

A New Concept of Modular Parallel Mechanism for Machining Applications (2003)

A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to sqrt(n/3). What...

Realistic Rendering of Kinetostatic Indices of Mechanisms (2003)

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or...

Subjective Evaluation of Forms in an Immersive Environment (2003)

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of...

Classification of one family of 3R positioning Manipulators (2003)

User's perception of product, by essence subjective, is a major topic in marketing and industrial design. Many methods, based on users' tests, are used so as to characterise this perception. We are...

Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide (2003)

The aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic...

The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications (2003)

This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2003)

The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but...

A New Concept of Modular Parallel Mechanism for Machining Applications (2003)

A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to sqrt(n/3). What...

Realistic Rendering of Kinetostatic Indices of Mechanisms (2003)

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or...

Subjective Evaluation of Forms in an Immersive Environment (2003)

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of...

Classification of one family of 3R positioning Manipulators (2003)

User's perception of product, by essence subjective, is a major topic in marketing and industrial design. Many methods, based on users' tests, are used so as to characterise this perception. We are...

Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide (2003)

The aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic...

The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications (2003)

This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2003)

The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but...

A New Concept of Modular Parallel Mechanism for Machining Applications (2003)

A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to sqrt(n/3). What...

Realistic Rendering of Kinetostatic Indices of Mechanisms (2003)

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or...

Subjective Evaluation of Forms in an Immersive Environment (2003)

The work presented in this paper is related to the use of a haptic device in an environment of robotic simulation. Such device introduces a new approach to feel and to understand the boundaries of...

Classification of one family of 3R positioning Manipulators (2003)

User's perception of product, by essence subjective, is a major topic in marketing and industrial design. Many methods, based on users' tests, are used so as to characterise this perception. We are...

On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators (2002)

The aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying...

Chablat, Damien, Caro, Stéphane, Wenger, Philippe, Angeles, Jorge

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations...

Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide (2002)

Workspace Analysis of the Orthoglide using Interval Analysis (2002)

The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to...

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...

A Novel method for the design of 2-DOF Parallel mechanisms for machining applications (2002)

Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide (2002)

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative...

Périphériques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop (2002)

The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which...

Chablat, Damien, Bennis, Fouad, Hoessler, Bernard, Guibert, Matthieu

This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The...

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide (2002)

Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe

In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...

L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope (2002)

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

This article presents the Orthoglide project. The purpose of this project is the realization of a prototype of machine tool to three degrees of translation. The characteristic of this machine is a...

Chablat, Damien, Wenger, Philippe, Caro, Stéphane, Angeles, Jorge

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

Chablat, Damien, Wenger, Philippe, Caro, Stéphane, Angeles, Jorge

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations...

L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope (2002)

On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators (2002)

This article presents the Orthoglide project. The purpose of this project is the realization of a prototype of machine tool to three degrees of translation. The characteristic of this machine is a...

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide (2002)

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying...

Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe

In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...

Périphériques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop (2002)

Chablat, Damien, Bennis, Fouad, Hoessler, Bernard, Guibert, Matthieu

This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The...

Workspace Analysis of the Orthoglide using Interval Analysis (2002)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...

Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide (2002)

A Novel method for the design of 2-DOF Parallel mechanisms for machining applications (2002)

The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative...

Chablat, Damien, Caro, Stéphane, Wenger, Philippe, Angeles, Jorge

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations...

Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide (2002)

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to...

Chablat, Damien, Wenger, Philippe, Caro, Stéphane, Angeles, Jorge

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations...

L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope (2002)

On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators (2002)

This article presents the Orthoglide project. The purpose of this project is the realization of a prototype of machine tool to three degrees of translation. The characteristic of this machine is a...

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide (2002)

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying...

Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe

In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...

Périphériques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop (2002)

Chablat, Damien, Bennis, Fouad, Hoessler, Bernard, Guibert, Matthieu

This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The...

Workspace Analysis of the Orthoglide using Interval Analysis (2002)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...

Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide (2002)

A Novel method for the design of 2-DOF Parallel mechanisms for machining applications (2002)

The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative...

Chablat, Damien, Caro, Stéphane, Wenger, Philippe, Angeles, Jorge

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations...

Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide (2002)

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to...

Chablat, Damien, Wenger, Philippe, Caro, Stéphane, Angeles, Jorge

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations...

L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope (2002)

On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators (2002)

This article presents the Orthoglide project. The purpose of this project is the realization of a prototype of machine tool to three degrees of translation. The characteristic of this machine is a...

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide (2002)

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying...

Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe

In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...

Périphériques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop (2002)

Chablat, Damien, Bennis, Fouad, Hoessler, Bernard, Guibert, Matthieu

This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The...

Workspace Analysis of the Orthoglide using Interval Analysis (2002)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...

Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide (2002)

A Novel method for the design of 2-DOF Parallel mechanisms for machining applications (2002)

The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative...

Chablat, Damien, Caro, Stéphane, Wenger, Philippe, Angeles, Jorge

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations...

Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide (2002)

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to...

Chablat, Damien, Wenger, Philippe, Caro, Stéphane, Angeles, Jorge

The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations...

L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope (2002)

On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators (2002)

This article presents the Orthoglide project. The purpose of this project is the realization of a prototype of machine tool to three degrees of translation. The characteristic of this machine is a...

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide (2002)

Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying...

Guegan, Sylvain, Khalil, Wisama, Chablat, Damien, Wenger, Philippe

In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are...

Périphériques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop (2002)

Chablat, Damien, Bennis, Fouad, Hoessler, Bernard, Guibert, Matthieu

This paper presents the development of a new software in order to manage objects, robots and mannequins in using the possibilities given by the haptic feedback of the Phantom desktop devices. The...

Workspace Analysis of the Orthoglide using Interval Analysis (2002)

Chablat, Damien, Wenger, Philippe, Merlet, Jean-Pierre

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine features three fixed parallel linear joints which are...

Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide (2002)

A Novel method for the design of 2-DOF Parallel mechanisms for machining applications (2002)

The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which...

The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators (2002)

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative...

Chablat, Damien, Caro, Stéphane, Wenger, Philippe, Angeles, Jorge

The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations...

Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide (2002)

A distributed Approach for Access and Visibility Task under Ergonomic Constraints with a Manikin in a Virtual Reality Environment (2001)

The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to...

Bidault, Florence, Chablat, Damien, Chedmail, Patrick, Pino, Laurent

This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic...

A distributed Approach for Access and Visibility Task under Ergonomic Constraints with a Manikin in a Virtual Reality Environment (2001)

Bidault, Florence, Chablat, Damien, Chedmail, Patrick, Pino, Laurent

This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic...

The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria (2001)

Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles (2001)

Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some...

A distributed Approach for Access and Visibility Task under Ergonomic Constraints with a Manikin in a Virtual Reality Environment (2001)

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes...

Bidault, Florence, Chablat, Damien, Chedmail, Patrick, Pino, Laurent

This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic...

A Comparative Study of Parallel Kinematic Architectures for Machining Applications (2001)

Wenger, Philippe, Gosselin, Clément, Chablat, Damien

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2001)

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2001)

A spherical wrist of the serial type is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all identical and nonzero. What isotropy brings about is...

A Comparative Study of Parallel Kinematic Architectures for Machining Applications (2001)

A spherical wrist of the serial type is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all identical and nonzero. What isotropy brings about is...

Wenger, Philippe, Gosselin, Clément, Chablat, Damien

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this...

The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria (2001)

A distributed Approach for Access and Visibility Task under Ergonomic Constraints with a Manikin in a Virtual Reality Environment (2001)

Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some...

Bidault, Florence, Chablat, Damien, Chedmail, Patrick, Pino, Laurent

This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic...

Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles (2001)

A distributed Approach for Access and Visibility Task under Ergonomic Constraints with a Manikin in a Virtual Reality Environment (2001)

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes...

Bidault, Florence, Chablat, Damien, Chedmail, Patrick, Pino, Laurent

This paper presents a new method, based on a multi-agent system and on digital mock-up technology, to assess an efficient path planner for a manikin for access and visibility task under ergonomic...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2001)

A Comparative Study of Parallel Kinematic Architectures for Machining Applications (2001)

A spherical wrist of the serial type is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all identical and nonzero. What isotropy brings about is...

Wenger, Philippe, Gosselin, Clément, Chablat, Damien

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this...

The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria (2001)

Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles (2001)

Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2001)

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes...

A Comparative Study of Parallel Kinematic Architectures for Machining Applications (2001)

A spherical wrist of the serial type is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all identical and nonzero. What isotropy brings about is...

Wenger, Philippe, Gosselin, Clément, Chablat, Damien

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this...

The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria (2001)

Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles (2001)

Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some...

The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture (2001)

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes...

A Comparative Study of Parallel Kinematic Architectures for Machining Applications (2001)

A spherical wrist of the serial type is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all identical and nonzero. What isotropy brings about is...

Wenger, Philippe, Gosselin, Clément, Chablat, Damien

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this...

The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria (2001)

Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles (2001)

Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some...

On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures (2000)

This article provides a formalism making it possible to manage the solutions of the direct and inverse kinematic models of the fully parallel manipulators. We introduce the concept of working modes...

A New Three-DOF Parallel Mechanism: Milling Machine Applications (2000)

Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number...

Conception Isotropique d'une morphologie parallèle : Application à l'usinage (2000)

This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally...

Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide (2000)

The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free...

Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide (2000)

This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a...

Conception Isotropique d'une morphologie parallèle : Application à l'usinage (2000)

This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a...

A New Three-DOF Parallel Mechanism: Milling Machine Applications (2000)

The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free...

On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures (2000)

This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally...

Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide (2000)

Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number...

Conception Isotropique d'une morphologie parallèle : Application à l'usinage (2000)

This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a...

A New Three-DOF Parallel Mechanism: Milling Machine Applications (2000)

The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free...

On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures (2000)

This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally...

Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide (2000)

Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number...

Conception Isotropique d'une morphologie parallèle : Application à l'usinage (2000)

This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a...

A New Three-DOF Parallel Mechanism: Milling Machine Applications (2000)

The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free...

On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures (2000)

This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally...

Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide (2000)

Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number...

Conception Isotropique d'une morphologie parallèle : Application à l'usinage (2000)

This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a...

A New Three-DOF Parallel Mechanism: Milling Machine Applications (2000)

The aim of this paper is the isotropic design of a hybrid morphology dedicated to 3-axis machining applications. It is necessary to ensure the feasibility of continuous, singularity-free...

On Isotropic Sets of Points in the Plane. Application to the Design of Robot Archirectures (2000)

This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally...

The Kinematics of Manipulators Built From Closed Planar Mechanisms (1999)

Various performance indices are used for the design of serial manipulators. One method of optimization relies on the condition number of the Jacobian matrix. The minimization of the condition number...

The Kinematics of Manipulators Built From Closed Planar Mechanisms (1999)

The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising...

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators (1999)

The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising...

La parcourabilité pour les manipulateurs pleinement parallèles (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

The Kinematics of Manipulators Built From Closed Planar Mechanisms (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators (1999)

The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising...

The Kinematics of Manipulators Built From Closed Planar Mechanisms (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

La parcourabilité pour les manipulateurs pleinement parallèles (1999)

The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising...

On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators (1999)

It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by...

The Kinematics of Manipulators Built From Closed Planar Mechanisms (1999)

It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by...

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators (1999)

The paper discusses the kinematics of manipulators builts of planar closed kinematic chains. A special kinematic scheme is extracted from the array of these mechanisms that looks the most promising...

La parcourabilité pour les manipulateurs pleinement parallèles (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators (1999)

It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by...

La parcourabilité pour les manipulateurs pleinement parallèles (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators (1999)

It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by...

La parcourabilité pour les manipulateurs pleinement parallèles (1999)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

The goal of this paper is to define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e. the maximal regions where it is possible to execute point-to-point motions....

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Working Modes and Aspects in Fully-Parallel Manipulator (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Working Modes and Aspects in Fully-Parallel Manipulator (1998)

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

The Kinematic design of a 3-dof Hybrid Manipulator (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Moveability and Collision Analysis for Fully-Parallel Manipulators (1998)

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one...

Working Modes and Aspects in Fully-Parallel Manipulator (1998)

The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or...

The Isoconditioning Loci of A Class of Closed-Chain Manipulators (1998)

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can...

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study (1998)

The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the...

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study (1998)

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The...

The Isoconditioning Loci of A Class of Closed-Chain Manipulators (1998)

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The...

Working Modes and Aspects in Fully-Parallel Manipulator (1998)

The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the...

Moveability and Collision Analysis for Fully-Parallel Manipulators (1998)

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can...

The Kinematic design of a 3-dof Hybrid Manipulator (1998)

The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one...

Working Modes and Aspects in Fully-Parallel Manipulator (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study (1998)

The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can...

The Isoconditioning Loci of A Class of Closed-Chain Manipulators (1998)

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The...

Moveability and Collision Analysis for Fully-Parallel Manipulators (1998)

The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the...

The Kinematic design of a 3-dof Hybrid Manipulator (1998)

The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one...

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

The Isoconditioning Loci of A Class of Closed-Chain Manipulators (1998)

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The...

Moveability and Collision Analysis for Fully-Parallel Manipulators (1998)

The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the...

The Kinematic design of a 3-dof Hybrid Manipulator (1998)

The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study (1998)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

The Isoconditioning Loci of A Class of Closed-Chain Manipulators (1998)

The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The...

Moveability and Collision Analysis for Fully-Parallel Manipulators (1998)

The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the...

The Kinematic design of a 3-dof Hybrid Manipulator (1998)

The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or...

Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles (1998)

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one...

Uniqueness Domains in the Workspace of Parallel Manipulators (1997)

Les travaux présentés dans cette thèse portent sur l'étude géométrique et cinématique des manipulateurs pleinement parallèles. Cette étude a pour objectifs finaux la détermination des...

Definition sets for the Direct Kinematics of Parallel Manipulators (1997)

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint...

Uniqueness Domains in the Workspace of Parallel Manipulators (1997)

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial...

Definition sets for the Direct Kinematics of Parallel Manipulators (1997)

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint...

Definition sets for the direct kinematics of parallel manipulators (1997)

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial...

Damien Chablat

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial...

Definition sets for the Direct Kinematics of Parallel Manipulators (1997)

Uniqueness Domains in the Workspace of Parallel Manipulators (1997)

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial...

Definition sets for the Direct Kinematics of Parallel Manipulators (1997)

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint...

Uniqueness Domains in the Workspace of Parallel Manipulators (1997)

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial...

Definition sets for the Direct Kinematics of Parallel Manipulators (1997)

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint...

Uniqueness Domains in the Workspace of Parallel Manipulators (1997)

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial...