251 citations
- Centre National de la Recherche ScientifiqueFR4 papers
- Nantes UniversitéFR4 papers
- Belarusian State University of Informatics and RadioelectronicsBY1 paper
- Centre Hospitalier de CannesFR1 paper
- Groupe de Physique des MatériauxFR1 paper
- Laboratoire des Sciences de l’Information et de la Communication1 paper
- McGill UniversityCA1 paper
- Technical University of DenmarkDK1 paper
- Thales Alenia Space (France)1 paper
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- Tsinghua UniversityCN1 paper
- Université de Rouen NormandieFR1 paper
5 papers · 1 filter
Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra
Daniel Kanaan, Philippe Wenger, Stéphane Caro +1
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 pla…
Dynamic Muscle Fatigue Evaluation in Virtual Working Environment
Liang Ma, Damien Chablat, Fouad Bennis +1
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.…
Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms
Anatoly Pashkevich, Philippe Wenger, Damien Chablat
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…
The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture
Damien Chablat, Jorge Angeles
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…
Definition sets for the Direct Kinematics of Parallel Manipulators
Philippe Wenger, 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 introduce…