305 citations · 1.4k across the 114 of their papers we have counts for
10 papers · 2 filters
Singular surfaces and cusps in symmetric planar 3-RPR manipulators
Michel Coste, Philippe Wenger, Damien Chablat
We study in this paper a class of 3-RPR manipulators for which the direct kinematic problem (DKP) is split into a cubic problem followed by a quadratic one. These manipulators are…
Cartesian stiffness matrix of manipulators with passive joints: analytical approach
Anatoly Pashkevich, Alexandr Klimchik, Stéphane Caro +1
The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that a…
A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes
Abdel Kader Zaiter, Philippe Wenger, Damien Chablat
Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This pa…
The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine
Damien Chablat, Jorge Angeles
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating fo…
Can virtual reality predict body part discomfort and performance of people in realistic world for assembling tasks?
Bo Hu, Liang Ma, Wei Zhang +3
This paper presents our work on relationship of evaluation results between virtual environment (VE) and realistic environment (RE) for assembling tasks. Evaluation results consist…
A novel approach for determining fatigue resistances of different muscle groups in static cases
Liang Ma, Damien Chablat, Fouad Bennis +3
In ergonomics and biomechanics, muscle fatigue models based on maximum endurance time (MET) models are often used to integrate fatigue effect into ergonomic and biomechanical appli…