67 citations · 491 across the 85 of their papers we have counts for
90 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…
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…
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…
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems
Anatoly Pashkevich, Alexandr Klimchik, Damien Chablat +1
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, th…
Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelis…