305 citations · 2.1k across the 178 of their papers we have counts for
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Stiffness modeling of non-perfect parallel manipulators
Alexandr Klimchik, Anatol Pashkevich, Damien Chablat
The paper focuses on the stiffness modeling of parallel manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ones. In these mani…
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
Alexandr Klimchik, Anatol Pashkevich, Damien Chablat +1
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-…
Internal joint forces in dynamics of a 3-PRP planar parallel robot
Stefan Staicu, Damien Chablat
Recursive matrix relations for the complete dynamics of a 3-PRP planar parallel robot are established in this paper. Three identical planar legs connecting to the moving platform a…
A new approach to muscle fatigue evaluation for Push/Pull task
Ruina Ma, Damien Chablat, Fouad Bennis
Pushing/Pulling tasks is an important part of work in many industries. Usually, most researchers study the Push/Pull tasks by analyzing different posture conditions, force requirem…
Human Arm simulation for interactive constrained environment design
Liang Ma, Ruina Ma, Damien Chablat +1
During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system…
Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators
Montserrat Manubens, Guillaume Moroz, Damien Chablat +2
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possibl…