305 citations · 993 across the 84 of their papers we have counts for
54 papers · 1 filter
Kinematic calibration of orthoglide-type mechanisms
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified…
Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators
Mazen Zein, Philippe Wenger, Damien Chablat
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appe…
A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions
Philippe Wenger, Damien Chablat, Maher Baili
Positioning 3R manipulators may have two or four inverse kinematic solutions (IKS). This paper derives a necessary and sufficient condition for 3R positioning manipulators with ort…
Working and Assembly Modes of the Agile Eye
Ilian Bonev, Damien Chablat, Philippe Wenger
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with rev…
Kinematic analysis of the 3-RPR parallel manipulator
Damien Chablat, Philippe Wenger, Ilian Bonev
The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as…
The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators
Damien Chablat, Philippe Wenger, Stéphane Caro +1
The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotr…