305 citations · 2.1k across the 178 of their papers we have counts for
196 papers
The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks
Luc Baron, Damien Chablat
This paper introduces a twist decomposition framework for serial manipulators performing lower mobility tasks. Rather than relying on Jacobian null-space projections, the method se…
MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures
Alexandr Klimchik, Anatol Pashkevich, Damien Chablat
The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results…
On the Certification of the Kinematics of 3-DOF Spherical Parallel Manipulators
Alexandre Lê, Guillaume Rance, Fabrice Rouillier +1
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such m…
Inertial Line-Of-Sight Stabilization Using a 3-DOF Spherical Parallel Manipulator with Coaxial Input Shafts
Alexandre Le, Guillaume Rance, Fabrice Rouillier +1
This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three…
A new 3-DOF 2T1R parallel mechanism: Topology design and kinematics
Huiping Shen, Zhongqiu Du, Damien Chablat +2
This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory o…
A review of cuspidal serial and parallel manipulators
Philippe Wenger, Damien Chablat
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all…