1 citations
4 papers
Conception Isotropique D'Une Morphologie ParallÈle : Application à L'Usinage
Damien Chablat, Philippe Wenger, Jorge Angeles
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, singularit…
The Isoconditioning Loci of A Class of Closed-Chain Manipulators
Damien Chablat, Philippe Wenger, Jorge Angeles
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…
The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
Damien Chablat, Stéphane Caro, Philippe Wenger +1
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 kinem…
The Kinematic design of a 3-dof Hybrid Manipulator
Damien Chablat, Philippe Wenger, Jorge Angeles
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…