44 citations · 80 across the 8 of their papers we have counts for
8 papers
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…
An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications
Mazen Zein, Philippe Wenger, Damien Chablat
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topo…
An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications
Mazen Zein, Philippe Wenger, Damien Chablat
This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into…
A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications
Mazen Zein, Philippe Wenger, Damien Chablat
This paper proposes a method to calculate the largest Regular Dextrous Workspace (RDW) of some types of three-revolute orthogonal manipulators that have at least one of their DH pa…
Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators
Philippe Wenger, Damien Chablat, Mazen Zein
This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first…
Singular curves and cusp points in the joint space of 3-RPR parallel manipulators
Mazen Zein, Philippe Wenger, Damien Chablat
This paper investigates the singular curves in two-dimensional slices of the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as c…