44 citations · 260 across the 53 of their papers we have counts for
52 papers · 1 filter
Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
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 multidimensio…
Path Planner for Objects, Robots and Mannequins by Multi-Agents Systems or Motion Captures
Damien Chablat
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…
Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots
Ilian Bonev, Sébastien Briot, Philippe Wenger +1
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 (con…
SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra
Patricia Ben-Horin, Moshe Shoham, Stéphane Caro +2
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 i…
Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra
Daniel Kanaan, Philippe Wenger, Damien Chablat
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of line…
Kinematic and Dynamic Analyses of the Orthoglide 5-axis
Raza Ur-Rehman, Stéphane Caro, Damien Chablat +1
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-ax…