9 citations · 16 across the 4 of their papers we have counts for
4 papers
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…
Workspace and Kinematic Analysis of the VERNE machine
Daniel Kanaan, Philippe Wenger, Damien Chablat
This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This m…
Workspace Analysis of the Parallel Module of the VERNE Machine
Daniel Kanaan, Philippe Wenger, Damien Chablat
The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This paral…
Kinematics analysis of the parallel module of the VERNE machine
Daniel Kanaan, Philippe Wenger, Damien Chablat
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-ax…