5 papers · 1 filter
On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators
Damien Chablat, Philippe Wenger
It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chab…
Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis
Raza Ur-Rehman, Stéphane Caro, Damien Chablat +1
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 wit…
Dynamics of the Orthoglide parallel robot
Damien Chablat, Philippe Wenger, Stefan Staicu
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arrange…
The eel-like robot
Frédéric Boyer, Damien Chablat, Philippe Lemoine +1
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…
Parametric stiffness analysis of the Orthoglide
Félix Majou, Clément Gosselin, Philippe Wenger +1
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 sy…