79 citations · 162 across the 6 of their papers we have counts for
7 papers
Multi-Objective Design Optimization of the Leg Mechanism for a Piping Inspection Robot
Renaud Henry, Damien Chablat, Mathieu Porez +2
This paper addresses the dimensional synthesis of an adaptive mechanism of contact points ie a leg mechanism of a piping inspection robot operating in an irradiated area as a nucle…
Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra
Daniel Kanaan, Philippe Wenger, Stéphane Caro +1
This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving pla…
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…
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…