305 citations · 993 across the 84 of their papers we have counts for
8 papers · 1 filter
Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine
Daniel Kanaan, Philippe Wenger, Damien Chablat
The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freed…
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
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…
SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra
Patricia Ben-Horin, Moshe Shoham, Stéphane Caro +2
This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is i…
Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra
Daniel Kanaan, Philippe Wenger, Damien Chablat
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of line…
Kinematic and Dynamic Analyses of the Orthoglide 5-axis
Raza Ur-Rehman, Stéphane Caro, Damien Chablat +1
This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-ax…
Self-Motions of General 3-RPR Planar Parallel Robots
Sébastien Briot, Ilian Bonev, Damien Chablat +2
This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics a…