Philippe Wenger

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

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....

Dynamics of the Orthoglide parallel robot (2009)

Chablat, Damien, Wenger, Philippe, Staicu, Stefan

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...

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)

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 realization...

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)

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 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...

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

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)

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...

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...

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...

Dynamics of the Orthoglide parallel robot (2009)

Chablat, Damien, Wenger, Philippe, Staicu, Stefan

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...

Dynamics of the Orthoglide parallel robot (2009)

Chablat, Damien, Wenger, Philippe, Staicu, Stefan

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)

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....

Méthode de résolution pour les problèmes de placement (2009)

Jacquenot, Guillaume, Bennis, Fouad, Maisonneuve, Jean-Jacques, Wenger, Philippe

Dans la littérature, les problèmes de découpe et de conditionnement (Cutting & Packing problems) et les problèmes d'agencement (Layout problems) ont souvent été traités de manières...

Méthode de résolution pour les problèmes de placement (2009)

Jacquenot, Guillaume, Bennis, Fouad, Maisonneuve, Jean-Jacques, Wenger, Philippe

Dans la littérature, les problèmes de découpe et de conditionnement (Cutting & Packing problems) et les problèmes d'agencement (Layout problems) ont souvent été traités de manières...

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...

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...

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)

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

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...

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...

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...

Self-Motions of General 3-RPR Planar Parallel Robots (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...

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...

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...

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)

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...

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...

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...

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...

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...

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)

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

Wenger, Philippe, Chablat, Damien, Baili, Maher

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...

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

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)

Chablat, Damien, Wenger, Philippe, Bonev, Ilian

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...

Working and Assembly Modes of the Agile Eye (2007)

Bonev, Ilian, Chablat, Damien, Wenger, Philippe

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...

Parametric Stiffness Analysis of the Orthoglide (2007)

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...

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)

Workspace and Kinematic Analysis of the VERNE machine (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...

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

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...

Baili, Maher, Chablat, Damien, Wenger, Philippe

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...

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

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

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...

Wenger, Philippe, Chablat, Damien, Majou, Félix

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...

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

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...

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

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

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

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)

Wenger, Philippe, Chablat, Damien, Zein, Mazen

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 Analysis of a Family of 3R Manipulators (2007)

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

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...

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

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...

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

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...

Wenger, Philippe, Baili, Maher, Chablat, Damien

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...

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...

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...

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...

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...

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

Chablat, Damien, Wenger, Philippe, Majou, Félix

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...

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

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

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...

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

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...

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

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...

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....

Wenger, Philippe, Chablat, Damien, Zein, Mazen

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...

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

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)

Parametric stiffness analysis of the Orthoglide (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...

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...

Workspace and Kinematic Analysis of the VERNE machine (2007)

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...

Wenger, Philippe, Chablat, Damien, Zein, Mazen

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...

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

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....

Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide (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...

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...

Kinematic Calibration of the 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 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 Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye (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...

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...

Chablat, Damien, Wenger, Philippe, Bonev, Ilian

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...

Working and Assembly Modes of the Agile Eye (2006)

Bonev, Ilian, Chablat, Damien, Wenger, Philippe

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...

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...

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...

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...

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...

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...

Working and Assembly Modes of the Agile Eye (2006)

Bonev, Ilian, Chablat, Damien, Wenger, Philippe

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...

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

Chablat, Damien, Wenger, Philippe, Bonev, Ilian

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...

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

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)

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

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...

Kinematic Calibration of the Orthoglide-Type Mechanisms (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...

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...

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot (2005)

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

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

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...

Baili, Maher, Chablat, Damien, Wenger, Philippe

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...

Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms (2005)

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)

Wenger, Philippe, Chablat, Damien, Baili, Maher

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...

A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions (2005)

Wenger, Philippe, Chablat, Damien, Baili, Maher

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)

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)

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

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...

Baili, Maher, Chablat, Damien, Wenger, Philippe

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...

Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot (2005)

The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator (2004)

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 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...

Wenger, Philippe, Baili, Maher, Chablat, Damien

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...

The Orthoglide: Kinematics and Workspace Analysis (2004)

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)

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

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...

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...

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...

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...

Wenger, Philippe, Baili, Maher, Chablat, Damien

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...

The Orthoglide: Kinematics and Workspace Analysis (2004)

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 New Concept of Modular Parallel Mechanism for Machining Applications (2003)

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...

Chablat, Damien, Wenger, Philippe, Majou, Félix

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)

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...

Chablat, Damien, Wenger, Philippe, Majou, Félix

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)

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 Isoconditioning Loci of Planar Three-DOF Parallel 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...

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...

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide (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...

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)

Wenger, Philippe, Chablat, Damien, Majou, Félix

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...

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...

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)

Wenger, Philippe, Chablat, Damien, Majou, Félix

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)

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...

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 Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria (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...

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 Comparative Study of Parallel Kinematic Architectures for Machining Applications (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...

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...

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 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 New Three-DOF Parallel Mechanism: Milling Machine Applications (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...

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...

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators (1999)

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...

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....

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-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....

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....

The Kinematic design of a 3-dof Hybrid Manipulator (1998)

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...

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...

Uniqueness Domains in the Workspace of Parallel Manipulators (1997)

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...

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...