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Philippe Wenger

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Documents
Identifiants chercheurs

Présentation

Philippe Wenger obtained his PhD in 1989 in Nantes University, France, and the Professor Habilitation in 1998. He joined the IRCCyN in 1990 as a CNRS research scientist and is with the LS2N since 2017. He is a CNRS Director of Research since 2002 and serves as a Professor at Ecole Centrale de Nantes since 2000 where he teaches a course on the optimal kinematic design of robots in the EMARO master (European Master on Robotics). He has led several research teams since 1998, including the robotics team of IRCCyN from 2010 to 2016. He has been involved in the kinematic analysis and design of robotic mechanisms for more than 30 years. He has participated in several national and international projects on the innovative design of robots in a variety of applications including machining, pick-and-place, medical and bio-inspired design. He has been regularly collaborating with industrial partners such as GE-Healthcare, Staubli, PSA, Renault, EDF, Airbus, STX-France and DCNS. He has given 26 keynotes or plenary lectures in national and international conferences, workshops and seminars. He has been a visiting professor in various Universities such as Laval Univ. (Canada), Lomonossov Univ. (Russia), Keio Univ. (Japan), ITLag (Mexico), Eniso (Tunisia), AIT Bangkok (Thailand), IIT Indore (India) and Changzhou Univ. (China). He has organized and chaired 6 international conferences and workshops, and has been a member in the scientific committee of more than 20 international conferences. He serves as an Associate Editor for Mechanism and Machine Theory and ASME Journal of Mechanisms and Robotics, and as a Vice-Chair of the IFToMM Committee Computational Kinematics.

Publications

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Coactivation in symmetric four-bar mechanisms antagonistically actuated by cables

Vimalesh Muralidharan , Christine Chevallereau , Philippe Wenger
Journal of Mechanisms and Robotics, 2024, pp.1-16. ⟨10.1115/1.4064981⟩
Article dans une revue hal-04507708v1
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Design considerations and workspace computation of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators

Vimalesh Muralidharan , Philippe Wenger , Christine Chevallereau
Mechanism and Machine Theory, 2024, 195, pp.105610. ⟨10.1016/j.mechmachtheory.2024.105610⟩
Article dans une revue hal-04507710v1
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Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan , Nicolas J.S. Testard , Christine Chevallereau , Anick Abourachid , Philippe Wenger
Journal of Mechanisms and Robotics, 2023, 15 (3), ⟨10.1115/1.4062302⟩
Article dans une revue hal-04087448v1
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An upright life, the postural stability of birds: a tensegrity system

Anick Abourachid , Christine Chevallereau , Idriss Pelletan , Philippe Wenger
Journal of the Royal Society Interface, 2023, 20 (208), ⟨10.1098/rsif.2023.0433⟩
Article dans une revue hal-04287433v1
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Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck

Benjamin Fasquelle , Parag Khanna , Christine Chevallereau , Damien Chablat , Denis Creusot
Journal of Mechanisms and Robotics, 2022, 14 (1), ⟨10.1115/1.4051521⟩
Article dans une revue hal-03314549v1
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Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal

Durgesh Haribhau Salunkhe , Christoforos Spartalis , Jose Capco , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2022, 171, pp.104729. ⟨10.1016/j.mechmachtheory.2022.104729⟩
Article dans une revue hal-03578664v1
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Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

M. Langard , Ph. Lucidarme , N. Delanoue , R. Guyonneau , Franck Mercier
Mathematical Problems in Engineering, 2022, 2022, pp.1-15. ⟨10.1155/2022/6455182⟩
Article dans une revue hal-03822926v1
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A review of cuspidal serial and parallel manipulators

Philippe Wenger , Damien Chablat
Journal of Mechanisms and Robotics, 2022, pp.1-37. ⟨10.1115/1.4055677⟩
Article dans une revue hal-03809104v1
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Estimating motion between avian vertebrae by contact modeling of joint surfaces

Matthieu Furet , Anick Abourachid , Christine Böhmer , Valentine Chummun , Christine Chevallereau
Computer Methods in Biomechanics and Biomedical Engineering, 2022, 25 (2), pp.123-131. ⟨10.1080/10255842.2021.1934676⟩
Article dans une revue hal-03344918v1
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Leg design for biped locomotion with mono-articular and bi-articular linear actuation

Christine Chevallereau , Philippe Wenger , Yannick Aoustin , Franck Mercier , Nicolas Delanoue
Mechanism and Machine Theory, 2021, 156, pp.104138. ⟨10.1016/j.mechmachtheory.2020.104138⟩
Article dans une revue hal-02985257v1
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Robots cuspidaux : théorie et applications

Philippe Wenger , Damien Chablat
Les Techniques de l'Ingenieur, 2021
Article dans une revue hal-03345018v2
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Modeling intervertebral articulation: The rotule à doigt mechanical joint (RAD) in birds and mammals

Anick Abourachid , Benoît Gagnier , Matthieu Furet , Raphael Cornette , Arnaud Delapre
Journal of Anatomy, 2021, 239 (6), pp.1287-1299. ⟨10.1111/joa.13517⟩
Article dans une revue mnhn-03445533v1
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Optimal design and comparative study of two antagonistically actuated tensegrity joints

Vimalesh Muralidharan , Philippe Wenger
Mechanism and Machine Theory, 2021, 159
Article dans une revue hal-03107170v1
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Kinetostatic analysis and solution classification of a class of planar tensegrity mechanisms

Philippe Wenger , Damien Chablat
Robotica, 2019, 37 (7), pp.1214-1224. ⟨10.1017/S026357471800070X⟩
Article dans une revue hal-01861785v1
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Kinematic Analysis of the 3-RPS-3-SPR Series-Parallel Manipulator

Abhilash Nayak , Stéphane Caro , Philippe Wenger
Robotica, 2019, 37 (7), pp.1240-1266. ⟨10.1017/S0263574718000826⟩
Article dans une revue hal-01859984v1
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Kinetostatic analysis and actuation strategy of a planar tensegrity 2-X manipulator

Matthieu Furet , Philippe Wenger
Journal of Mechanisms and Robotics, 2019, 11 (6), ⟨10.1115/1.4044209⟩
Article dans une revue hal-02338783v1
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Comparison of 3-[PP]S Parallel Manipulators based on their Singularity Free Orientation Workspace, Parasitic Motions and Complexity

Abhilash Nayak , Stéphane Caro , Philippe Wenger
Mechanism and Machine Theory, 2018, 129, pp.293-315. ⟨10.1016/j.mechmachtheory.2018.08.001⟩
Article dans une revue hal-01858955v1
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Operation Mode Analysis of 3-RPS Parallel Manipulators based on their Design Parameters

Abhilash Nayak , Thomas Stigger , Manfred Husty , Philippe Wenger , Stéphane Caro
Computer Aided Geometric Design, 2018, 63, pp.122 - 134. ⟨10.1016/j.cagd.2018.05.003⟩
Article dans une revue hal-01860789v1
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Trajectory Planning of Kinematically Redundant Parallel Manipulators by Using Multiple Working Modes

Daniel Reveles Ramos , J. Alfonso Pamanes , Philippe Wenger
Mechanism and Machine Theory, 2016, 98, pp.216-230. ⟨10.1016/j.mechmachtheory.2015.09.011⟩
Article dans une revue hal-01712832v1
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Operation modes and self-motions of the 2-RUU parallel manipulator

Latifah Nurahmi , Stéphane Caro , Philippe Wenger
International Journal of Mechanisms and Robotic Systems, 2016, 3 (4), pp.280-296. ⟨10.1504/IJMRS.2016.085228⟩
Article dans une revue hal-01721232v1

Guaranteed detection of the singularities of 3R robotic manipulators

Romain Benoit , Nicolas Delanoue , Sébastien Lagrange , Philippe Wenger
Mechanical Sciences (MS), 2016, 7 (1), pp.31-38. ⟨10.5194/ms-7-31-2016⟩
Article dans une revue hal-01388781v1
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Reconfiguration analysis of a 4-RUU parallel manipulator

Latifah Nurahmi , Stéphane Caro , Philippe Wenger , Josef Schadlbauer , Manfred Husty
Mechanism and Machine Theory, 2016, ⟨10.1016/j.mechmachtheory.2015.09.004⟩
Article dans une revue hal-01757269v1
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Kinematic Analysis of the 3-RPS Cube Parallel Manipulator

Latifah Nurahmi , Josef Schadlbauer , Stéphane Caro , Manfred Husty , Philippe Wenger
Journal of Mechanisms and Robotics, 2015, 7 (1), ⟨10.1115/1.4029305⟩
Article dans une revue hal-01757334v1
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Natural Frequency Computation of Parallel Robots

Coralie Germain , Sébastien Briot , Stéphane Caro , Philippe Wenger
Journal of Computational and Nonlinear Dynamics, 2015, 10 (2), ⟨10.1115/1.4028573⟩
Article dans une revue hal-01061512v1

Robust generalized predictive control of the Orthoglide robot

Fabian Andres Lara-Molina , João Maurício Rosário , Didier Dumur , Philippe Wenger
Industrial Robot: An International Journal, 2014, 41 (3), pp.275-285. ⟨10.1108/IR-07-2013-374⟩
Article dans une revue hal-01094056v1
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Self-Motions of 3-RPS Manipulators

Josef Schadlbauer , Manfred Husty , Stéphane Caro , Philippe Wenger
Frontiers of Mechanical Engineering, 2013, 8 (1), pp.62-69. ⟨10.1007/s11465-013-0366-3⟩
Article dans une revue hal-00914024v1
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Singularity-free Design of the Translational Parallel Manipulator IRSBot-2

Coralie Germain , Stéphane Caro , Sébastien Briot , Philippe Wenger
Mechanism and Machine Theory, 2013, 64, pp.262-285. ⟨10.1016/j.mechmachtheory.2013.02.005⟩
Article dans une revue hal-00832557v1
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Cusp Points in the Parameter Space of Degenerate 3-RPR Planar Parallel Manipulators

Montserrat Manubens , Guillaume Moroz , Damien Chablat , Philippe Wenger , Fabrice Rouillier
Journal of Mechanisms and Robotics, 2012, pp.1-10
Article dans une revue hal-00690975v1

Application of predictive control techniques within parallel robot

Fabian Andres Lara-Molina , João Maurício M. Rosário , Didier Dumur , Philippe Wenger
Sba Controle & Automação, 2012, 23 (5), pp.530-540. ⟨10.1590/S0103-17592012000500002⟩
Article dans une revue hal-00746797v1
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Singularity Conditions of 3T1R Parallel Manipulators with Identical Limb Structures

Semaan Amine , Mehdi Tale Masouleh , Stéphane Caro , Philippe Wenger , Clément M. Gosselin
Journal of Mechanisms and Robotics, 2012, 4 (1), pp.1-11. ⟨10.1016/j.mechmachtheory.2013.09.004⟩
Article dans une revue hal-00642238v1
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Singularity Analysis of 3T2R Parallel Mechanisms using Grassmann-Cayley Algebra and Grassmann Line Geometry

Semaan Amine , M Tale Masouleh , Stéphane Caro , Philippe Wenger , Clément Gosselin
Mechanism and Machine Theory, 2012, 52, pp.326-340. ⟨10.1016/j.mechmachtheory.2011.11.015⟩
Article dans une revue hal-00833520v1
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Singularity Analysis of the 4-RUU Parallel Manipulator using Grassmann-Cayley Algebra

Semaan Amine , Mehdi Tale Masouleh , Stéphane Caro , Philippe Wenger , Clément M Gosselin
Transactions of the Canadian Society for Mechanical Engineering, 2011, 35 (5), pp.515-528. ⟨10.1139/tcsme-2011-0031⟩
Article dans une revue hal-00684999v1
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Singularity Analysis of the H4 Robot using Grassmann-Cayley Algebra

Semaan Amine , Stéphane Caro , Philippe Wenger , Daniel Kanaan
Robotica, 2011, pp.1-10. ⟨10.1017/S0263574711001330⟩
Article dans une revue hal-00642230v1
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Comparison of 3-RPR Planar Parallel Manipulators with regard to their Dexterity and Sensitivity to Geometric Uncertainties

Nicolas Binaud , Stéphane Caro , Philippe Wenger
Meccanica, 2011, 46 (14), pp.75-88. ⟨10.1007/s11012-010-9390-0⟩
Article dans une revue hal-00833524v1
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On the determination of cusp points of 3-R\underline{P}R parallel manipulators

Guillaume Moroz , Fabrice Rouillier , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2010, 45 (11), pp.1555-1567. ⟨10.1016/j.mechmachtheory.2010.06.016⟩
Article dans une revue hal-00545502v1
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Multiobjective Path Placement Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2010, 45 (8), pp.1125-1141. ⟨10.1016/j.mechmachtheory.2010.03.008⟩
Article dans une revue hal-00553166v1
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Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Mechatronics, 2009, 19 (4), pp.478-488. ⟨10.1016/j.mechatronics.2008.11.008⟩
Article dans une revue hal-00418777v1
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Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra

Daniel Kanaan , Philippe Wenger , Stéphane Caro , Damien Chablat
IEEE Transactions on Robotics, 2009, 25 (5), pp.995-1004. ⟨10.1109/TRO.2009.2017132⟩
Article dans une revue hal-00425361v1
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Dynamics of the Orthoglide parallel robot

Damien Chablat , Philippe Wenger , Stefan Staicu
Scientific Bulletin - "Politehnica" University of Bucharest. Series D, Mechanical engineering, 2009, 71 (3), pp.3-16
Article dans une revue hal-00425143v1
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Sensitivity Comparison of Planar Parallel Manipulators

Nicolas Binaud , Stéphane Caro , Philippe Wenger
Mechanism and Machine Theory, 2009, 45, pp.1477-1490. ⟨10.1016/j.mechmachtheory.2010.07.004⟩
Article dans une revue hal-00833527v1
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Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
Transactions of the Canadian Society for Mechanical Engineering, 2009, pp.1-19
Article dans une revue hal-00425337v1
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Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat , Philippe Wenger
Journal of Automation, Mobile Robotics and Intelligent Systems, 2009, 3 (3), pp.75-82
Article dans une revue hal-00418768v1
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Sensitivity analysis of 3-RPR planar parallel manipulators

Stéphane Caro , Nicolas Binaud , Philippe Wenger
Journal of Mechanical Design, 2009, 131, pp.121005-1--121005-13. ⟨10.1115/1.4000216⟩
Article dans une revue hal-00456135v2
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Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine

Daniel Kanaan , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2009, 44 (2), pp.487-498. ⟨10.1016/j.mechmachtheory.2008.03.002⟩
Article dans une revue hal-00342928v1
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Stiffness Analysis of Overconstrained Parallel Manipulators

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2009, 44 (5), pp.966-982. ⟨10.1016/j.mechmachtheory.2008.05.017⟩
Article dans une revue hal-00372638v1
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Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2008, 23 (4), pp.480-490. ⟨10.1016/j.mechmachtheory.2007.03.011⟩
Article dans une revue hal-00261669v1
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Self-Motions of General 3-RPR Planar Parallel Robots

Sébastien Briot , Ilian Bonev , Damien Chablat , Philippe Wenger , Vigen Arakelian
The International Journal of Robotics Research, 2008, 27 (7), pp. 855-866. ⟨10.1177/0278364908092466⟩
Article dans une revue hal-00310393v1
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Cuspidal and Noncuspidal Robot Manipulators

Philippe Wenger
Robotica, 2007, 25 (6), pp.717-724
Article dans une revue hal-00454562v1
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Parametric stiffness analysis of the Orthoglide

Félix Majou , Clément Gosselin , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2007, 42 (3), pp.296-311
Article dans une revue hal-00168332v1
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Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
Robotica, 2007, 25 (6), pp.717-724. ⟨10.1017/S0263574707003785⟩
Article dans une revue hal-00184991v1
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Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators

Philippe Wenger , Damien Chablat , Mazen Zein
Journal of Mechanical Design, 2007, 129 (12), pp.1-6
Article dans une revue hal-00162649v1
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An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications

Mazen Zein , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2006, 41 (8), pp.971-986. ⟨10.1016/j.mechmachtheory.2006.03.013⟩
Article dans une revue hal-00168501v1
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Sensitivity Analysis of the Orthoglide: A 3-DOF Translational Parallel Kinematic Machine

Stéphane Caro , Philippe Wenger , Fouad Bennis , Damien Chablat
Journal of Mechanical Design, 2006, 128, pp.392-402. ⟨10.1115/1.2166852⟩
Article dans une revue hal-00169005v2
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Position Analysis of the RRP-3(SS) Multi-Loop Spatial Structure

Carlo Innocenti , Philippe Wenger
Journal of Mechanical Design, 2006, 128 (1), pp.272-278
Article dans une revue hal-00454563v1
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Robustness Study of Generic and Non-Generic 3R Positioning Manipulators

Stéphane Caro , Philippe Wenger , Fouad Bennis
Journal IFToMM Problems of Applied Mechanics, 2006, 22 (1), pp.9-23
Article dans une revue hal-00463711v1
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Workspace Analysis of the Parallel Module of the VERNE Machine

Daniel Kanaan , Philippe Wenger , Damien Chablat
Problems of Mechanics, 2006, 25 (4), pp.26-42
Article dans une revue hal-00160062v1
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Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Robotica, 2006, 24 (1), pp.39-49
Article dans une revue hal-00168340v1
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Tolerance Synthesis of Mechanisms: a Robust Design Approach

Stéphane Caro , Fouad Bennis , Philippe Wenger
Journal of Mechanical Design, 2005, 127, pp.86-94. ⟨10.1115/1.1825047⟩
Article dans une revue hal-00463707v1
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A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions

Philippe Wenger , Damien Chablat , Maher Baili
Journal of Mechanical Design, 2005, 127, pp.150-155
Article dans une revue hal-00169594v1
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Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms

Anatol Pashkevich , Philippe Wenger , Damien Chablat
Mechanism and Machine Theory, 2005, 40 (8), pp.907-930
Article dans une revue hal-00168494v1
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An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines

Damien Chablat , Philippe Wenger , Félix Majou , Jean-Pierre Merlet
The International Journal of Robotics Research, 2004, 23 (6), pp.615-624
Article dans une revue hal-00166631v1

Geometric synthesis of orthoglide-type mechanisms

Philippe Wenger , Damien Chablat , Anatol Pashkevich
Transactions of Belarusian Engineering Academy, 2004, 17 (1), pp.69-72
Article dans une revue hal-00169635v1
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Kinematic Analysis of a Family of 3R Manipulators

Maher Baili , Philippe Wenger , Damien Chablat
Problems of Mechanics, 2004, 15 (2), pp.27-32
Article dans une revue hal-00162645v1
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Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide

Damien Chablat , Philippe Wenger
IEEE Transactions on Robotics and Automation, 2003, 19 (3), pp.403-410
Article dans une revue hal-00168179v1
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Séparation des Solutions aux Modèles Géométriques Direct et Inverse pour les Manipulateurs Pleinement Parallèles

Damien Chablat , Philippe Wenger
Mechanism and Machine Theory, 2001, 36 (6), pp.763-783
Article dans une revue hal-00145142v1
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A Comparative Study of Parallel Kinematic Architectures for Machining Applications

Philippe Wenger , Clément Gosselin , Damien Chablat
Electronic Journal of Computational Kinematics, 2001, 1 (1), pp.23
Article dans une revue hal-01703831v1
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Some guidelines for the kinematic design of new manipulators

Philippe Wenger
Mechanism and Machine Theory, 2000, 35 (3), pp.437-449. ⟨10.1016/S0094-114X(99)00015-4⟩
Article dans une revue hal-02355184v1
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Classification of 3R Positioning Manipulators

Philippe Wenger
Journal of Mechanical Design, 1998, 120 (2), pp.327-332. ⟨10.1115/1.2826976⟩
Article dans une revue hal-02362907v1
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Ability of a Robot to Travel Through its Free Work Space in an Environment with Obstacles

Philippe Wenger , Patrick Chedmail
The International Journal of Robotics Research, 1991, 10 (3), pp.214-227. ⟨10.1177/027836499101000303⟩
Article dans une revue hal-02355205v1
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On the connectivity of manipulator free workspace

Philippe Wenger , P. Chedmail
Journal of Robotic Systems, 1991, 8 (6), pp.767-799. ⟨10.1002/rob.4620080604⟩
Article dans une revue hal-02355226v1
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Trajectory planning issues in cuspidal commercial robots

Durgesh Haribhau Salunkhe , Damien Chablat , Philippe Wenger
International Conference on Robotics and Automation, IEEE, May 2023, London, United Kingdom
Communication dans un congrès hal-04055520v1
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Comparison of Explicit and Implicit Numerical Integrations for a Tendon-Driven Robot

Nicolas J S Testard , Christine Chevallereau , Philippe Wenger
6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.234-245, ⟨10.1007/978-3-031-32322-5_19⟩
Communication dans un congrès hal-04121447v1
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Dynamics and computed torque control stability of an under-actuated tendon-driven manipulator

Nicolas J.S. Testard , Christine Chevallereau , Philippe Wenger
16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science (IFToMM WC 2023), Nov 2023, Tokyo, Japan. pp.332-341, ⟨10.1007/978-3-031-45770-8_33⟩
Communication dans un congrès hal-04311457v1

Kinematic and Static Modelling of a New Two-Degree-of-Freedom Cable Operated Joint

Isaac John , Santhakumar Mohan , Philippe Wenger
6th IFToMM International Conference on Mechanisms, Transmissions, and Applications, Med Amine Laribi, Jun 2023, Poitiers, France. pp.111-123, ⟨10.1007/978-3-031-29815-8_12⟩
Communication dans un congrès hal-04271938v1
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Comparison Analysis of Tendon-Driven Manipulators Based on Their Wrench Feasible Workspace

Nicolas J S Testard , Christine Chevallereau , Philippe Wenger
6th International Conference on Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.121-133, ⟨10.1007/978-3-031-32322-5_10⟩
Communication dans un congrès hal-04121450v1
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A New Bio-Inspired Joint with Variable Stiffness

Christine Chevallereau , Philippe Wenger , Anick Abourachid
International Workshop on New Trends in Medical and Service Robots (MESROB 2023 ), Daniela Tarnita, Jun 2023, Craiova, Romania. pp.220-227, ⟨10.1007/978-3-031-32446-8_24⟩
Communication dans un congrès hal-04271760v1
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Effect of antagonistic cable actuation on the stiffness of symmetric four-bar mechanisms

Vimalesh Muralidharan , Christine Chevallereau , Philippe Wenger , Nicolas J.S. Testard
CableCon 2023: Cable-Driven Parallel Robots, Jun 2023, Nantes, France. pp.332-343, ⟨10.1007/978-3-031-32322-5_27⟩
Communication dans un congrès hal-04118861v1
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Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry

Damien Chablat , Rémi Prébet , Mohab Safey El Din , Durgesh Salunkhe , Philippe Wenger
ISSAC 2022 - 47th International Symposium on Symbolic and Algebraic Computation, Jul 2022, Lille, France. ⟨10.1145/3476446.3535477⟩
Communication dans un congrès hal-03596704v3
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Computation of stable wrench-feasible workspace of cable-driven n-X tensegrity manipulators

Vimalesh Muralidharan , Philippe Wenger , Christine Chevallereau
25 ème Congrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès hal-03797283v1
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Control in the operational space of a redundant and under-actuated tensegrity robot

Nicolas J.S. Testard , Christine Chevallereau , Philippe Wenger
25ème Congrès Français de Mécanique, Aug 2022, Nantes, France
Communication dans un congrès hal-03797431v1
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Kinematic and static analysis of a cable-driven 2-X tensegrity manipulator for two actuation strategies

Vimalesh Muralidharan , Philippe Wenger , Christine Chevallereau
Advances in Robot Kinematics 2022, Jun 2022, Bilbao, Spain
Communication dans un congrès hal-03797235v1
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A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints

Benjamin Fasquelle , Matthieu Furet , Parag Khanna , Damien Chablat , Christine Chevallereau
ICRA'2020, May 2020, Paris, France
Communication dans un congrès hal-02517339v1
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Design and analysis of a tensegrity mechanism for a bio-inspired robot

Swaminath Venkateswaran , Matthieu Furet , Damien Chablat , Philippe Wenger
The ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2019, Aug 2019, Annaheim, California, United States, Aug 2019, Annaheim, CA, United States. ⟨10.1115/DETC2019-97544⟩
Communication dans un congrès hal-02189437v1
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Modelling, design and control of a bird neck using tensegrity mechanisms

A. Abourachid , C Böhmer , Philippe Wenger , Damien Chablat , Christine Chevallereau
ICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada
Communication dans un congrès hal-02355070v1
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Prototype of a tensegrity manipulator to mimic bird necks

Matthieu Furet , Damien Chablat , Benjamin Fasquelle , Parag Khanna , Christine Chevallereau
24ème Congrès Français de Mécanique, Aug 2019, Brest, France
Communication dans un congrès hal-02264288v1
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Combining precision and power to maximize performance: a case study of the woodpecker's neck

Christine Böhmer , Anick Abourachid , Philippe Wenger , Benjamin Fasquelle , Matthieu Furet
44ème congrès de la Société de Biomécanique, Oct 2019, Poitiers, France
Communication dans un congrès hal-02265058v1

A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic Machine

Jayant Kumar Mohanta , Santhakumar Mohan , Philippe Wenger , Christine Chevallereau
IFToMM Asian Mechanism and Machine Science 2018, Dec 2018, Bengaluru, India
Communication dans un congrès hal-01984427v1
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Algebraic Analysis of a 3-RUU Parallel Manipulator

Thomas Stigger , Abhilash Nayak , Stéphane Caro , Philippe Wenger , Martin Pfurner
The 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy
Communication dans un congrès hal-01757514v1
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A Dual Reconfigurable 4-rRUU Parallel Manipulator

Abhilash Nayak , Stéphane Caro , Philippe Wenger
4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR2018), Jun 2018, Delft, Netherlands. ⟨10.1109/REMAR.2018.8449902⟩
Communication dans un congrès hal-01757553v1
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Kinematic analysis of planar tensegrity 2-X manipulators

Matthieu Furet , Max Lettl , Philippe Wenger
16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy
Communication dans un congrès hal-01791317v1
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Optimal design of tensegrity mechanisms used in a bird neck model

Matthieu Furet , Anders van Riesen , Christine Chevallereau , Philippe Wenger
European Conference on Mechanism Science (EUCOMES'2018), Sep 2018, Aachen, Germany. pp.365-375, ⟨10.1007/978-3-319-98020-1_43⟩
Communication dans un congrès hal-01989992v1
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Preliminary survey of backdrivable linear actuators for humanoid robots

Philippe Lucidarme , Nicolas Delanoue , Franck Mercier , Yannick Aoustin , Christine Chevallereau
22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.304-313, ⟨10.1007/978-3-319-78963-7_39⟩
Communication dans un congrès hal-01989982v1
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Workspace and cuspidality analysis of a 2-X planar manipulator

Matthieu Furet , Philippe Wenger
4th IFToMM Symposium on Mechanism Design for Robotics, Sep 2018, Udine, Italy
Communication dans un congrès hal-01810820v1
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Dynamic analysis and control of an antagonistically actuated tensegrity mechanism

Anders van Riesen , Matthieu Furet , Christine Chevallereau , Philippe Wenger
22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY'2018), Jun 2018, Rennes, France. pp.481-490, ⟨10.1007/978-3-319-78963-7_60⟩
Communication dans un congrès hal-01989963v1
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Local and Full-cycle Mobility Analysis of a 3-RPS-3-SPR Series-Parallel Manipulator

Abhilash Nayak , Stéphane Caro , Philippe Wenger
7th IFToMM International Workshop on Computational Kinematics~(CK2017), May 2017, Poitiers, France
Communication dans un congrès hal-01757936v1
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Operation Modes and Self-motions of a 2-RUU Parallel Manipulator

Latifah Nurahmi , Stéphane Caro , Philippe Wenger
The 3rd IFToMM Symposium on Mechanism Design for Robotics, Jun 2015, Aalborg, Denmark
Communication dans un congrès hal-02947228v1
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Operation Modes and Singularities of 3-PRS Parallel Manipulators with Different Arrangements of P-joints

Latifah Nurahmi , Stéphane Caro , Philippe Wenger
ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2015, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-47935⟩
Communication dans un congrès hal-02947216v1
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Kinematic Analysis and Trajectory Planning of the Orthoglide 5-Axis

Stéphane Caro , Damien Chablat , Philippe Lemoine , Philippe Wenger
International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2015, Boston, United States. ⟨10.1115/DETC2015-46292⟩
Communication dans un congrès hal-01143102v1
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Design of 3-RPS Parallel Manipulators based on Operation Modes

Latifah Nurahmi , Stéphane Caro , Philippe Wenger
The 14th IFToMM World Congress in Mechanism and Machine Science, Oct 2015, Taipei, Taiwan
Communication dans un congrès hal-02947194v1
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Synthesis of 3-RPS Parallel Manipulators based on Prescribed Operation Modes

Latifah Nurahmi , Stéphane Caro , Philippe Wenger
The 4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France
Communication dans un congrès hal-02947222v1
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A study of Σ 2 singularities in the 3-RPS Parallel Manipulator

Rohit Kalla , Latifah Nurhami , Sandipan Bandyopadhyay , Stéphane Caro , Philippe Wenger
iNaCoMM 2015, Dec 2015, Kanpur, India
Communication dans un congrès hal-02338828v1
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A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of Large Structures

Lorenzo Gagliardini , Stéphane Caro , Marc Gouttefarde , Philippe Wenger , Alexis Girin
CableCon: Cable-Driven Parallel Robots, Aug 2014, Duisburg, Germany. pp.275-291, ⟨10.1007/978-3-319-09489-2_20⟩
Communication dans un congrès lirmm-01221407v1
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Optimal Design of Cable-Driven Parallel Robots for Large Industrial Structures

Lorenzo Gagliardini , Stéphane Caro , Marc Gouttefarde , Philippe Wenger , Alexis Girin
ICRA: International Conference on Robotics and Automation, May 2014, Hong-Kong, China. pp.5744-5749, ⟨10.1109/ICRA.2014.6907703⟩
Communication dans un congrès lirmm-01221401v1
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Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory

Coralie Germain , Stéphane Caro , Sébastien Briot , Philippe Wenger
ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, Aug 2013, Portland, Oregon, United States. ⟨10.1115/DETC2013-13037⟩
Communication dans un congrès hal-00818100v1
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Conceptual design of Schoenflies motion generators based on the wrench graph

Semaan Amine , Latifah Nurahmi , Philippe Wenger , Stéphane Caro
ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2013, Portland, United States. ⟨10.1115/DETC2013-13084⟩
Communication dans un congrès hal-00830400v1
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Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot

Stéphane Caro , Philippe Wenger , Damien Chablat
ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2012, Chicago, United States. pp.1-10, ⟨10.1115/DETC2012-70662⟩
Communication dans un congrès hal-00692371v1
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Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators

Dinh Quan Nguyen , Sébastien Briot , Philippe Wenger
ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis (ESDA 2012), Jul 2012, Nantes, France. pp.175-184, ⟨10.1115/ESDA2012-82208⟩
Communication dans un congrès hal-00667609v1
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Constraint and Singularity Analysis of the Exechon

Semaan Amine , Stéphane Caro , Philippe Wenger
The Joint International Conference of the XI International Conference on Mechanisms and Mechanical Transmissions (MTM) and the International Conference on Robotics (Robotics’12), Jan 2012, Clermont-Ferrand, France. pp.141-150, ⟨10.4028/www.scientific.net/AMM.162.141⟩
Communication dans un congrès hal-03533368v1
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Constraint Singularity-Free Design of the IRSBot-2

Coralie Germain , Sébastien Briot , Stéphane Caro , Philippe Wenger
Advances in Robot Kinematics, Jun 2012, Innsbruck, Austria
Communication dans un congrès hal-00676851v1
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Singular surfaces and cusps in symmetric planar 3-RPR manipulators

Michel Coste , Philippe Wenger , Damien Chablat
IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Franisco, United States. pp.1453-1458, ⟨10.1109/IROS.2011.6094724⟩
Communication dans un congrès hal-00610313v1
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Singularity Analysis of the 4-RUU Parallel Manipulator using Grassmann-Cayley Algebra

Semaan Amine , Mehdi Tale-Masouleh , Stéphane Caro , Philippe Wenger , Clément M. Gosselin
The 2011 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Jun 2011, Montréal, Canada. pp.1-12
Communication dans un congrès hal-00642267v1
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A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

Abdel Kader Zaiter , Philippe Wenger , Damien Chablat
4th International Congress Design and Modeling of Mechanical Systems, May 2011, Sousse, Tunisia. pp.1-8
Communication dans un congrès hal-00598302v1
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Uniqueness domains and non singular assembly mode changing trajectories

Damien Chablat , Guillaume Moroz , Philippe Wenger
International Conference on Robotics and Automation, May 2011, Shanghai, China. pp.1-6
Communication dans un congrès hal-00583302v1
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Etude des Conditions d'Assemblage de Manipulateurs Hyperstatiques : application à un manipulateur 5 barres

Nicolas Binaud , Stéphane Caro , Philippe Wenger
CFM 2011 - 20ème Congrès Français de Mécanique, Aug 2011, Besançon, France
Communication dans un congrès hal-03422528v1
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IRSBOT-2 : Un nouveau robot parallèle à deux degrés de liberté pour des applications de manipulation rapide

Coralie Germain , Sébastien Briot , Stéphane Caro , Philippe Wenger
20ème Congrès Français de Mécanique, Aug 2011, Besançon, France
Communication dans un congrès hal-00590041v1
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IRSBOT-2: A Novel Two-Dof Parallel Robot for High-Speed Operations

Coralie Germain , Sébastien Briot , Victor Glazunov , Stéphane Caro , Philippe Wenger
ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2011, Aug 2011, Washington, United States. ⟨10.1115/DETC2011-47564⟩
Communication dans un congrès hal-00590082v1
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The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances

Nicolas Binaud , Philippe Cardou , Stéphane Caro , Philippe Wenger
ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Aug 2010, Montreal, Canada. ⟨10.1115/DETC2010-28635⟩
Communication dans un congrès hal-01941777v1
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Multiobjective Design Optimization of 3-PRR Planar Parallel Manipulators

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
20th CIRP Design conference, Apr 2010, Nantes, France. ⟨10.1007/978-3-642-15973-2_37⟩
Communication dans un congrès hal-00464101v1
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Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach

Damien Chablat , Stéphane Caro , Raza Ur-Rehman , Philippe Wenger
34th Annual Mechanisms and Robotics Conference (MR), Aug 2010, Montréal, Canada. pp.1-8
Communication dans un congrès hal-00545466v1
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Cusp points in the parameter space of RPR-2PRR parallel manipulators

Guillaume Moroz , Damien Chablat , Philippe Wenger , Fabrice Rouillier
3rd European Conference on Mechanism Science : EUCOMES 2010, Sep 2010, Cluj-Napoca, Romania. pp.29-37, ⟨10.1007/978-90-481-9689-0_4⟩
Communication dans un congrès hal-00545445v1
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Singularity Analysis of Lower-Mobility Parallel Robots with an Articulated Nacelle

Semaan Amine , Daniel Kanaan , Stéphane Caro , Philippe Wenger
Advances in Robot Kinematics, Jun 2010, Piran-Portoroz, Slovenia. pp.273-282
Communication dans un congrès hal-00642259v1
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Accuracy Improvement for Stiffness Modeling of Parallel Manipulators

Anatol Pashkevich , Alexandr Klimchik , Damien Chablat , Philippe Wenger
42ème CIRP Conference on Manufacturing Systems, Jun 2009, Grenoble, France. pp.1-8
Communication dans un congrès hal-00414207v1
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Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
Troisième Congrès International. Conception et Modélisation des Systèmes Mécaniques, Mar 2009, Hammamet, Tunisia. pp.1-8
Communication dans un congrès hal-00372622v1
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2D multi-objective placement algorithm for free-form components

Guillaume Jacquenot , Fouad Bennis , Jean-Jacques Maisonneuve , Philippe Wenger
ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug 2009, San Diego, United States. pp.DETC2009-87603
Communication dans un congrès hal-00432667v2
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The eel-like robot

Frédéric Boyer , Damien Chablat , Philippe Lemoine , Philippe Wenger
ASME Design Engineering Technical Conferences, Aug 2009, San Diego, United States. pp.1-8
Communication dans un congrès hal-00411844v2
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Design optimization of parallel manipulators for high-speed precision machining applications

Anatol Pashkevich , Damien Chablat , Philippe Wenger
13th IFAC Symposium on Information Control Problems in Manufacturing, Jun 2009, Moscou, Russia. pp.1-6
Communication dans un congrès hal-00414240v1

Méthode générique pour la résolution des problèmes de placement bidimensionnel

Guillaume Jacquenot , Fouad Bennis , Jean-Jacques Maisonneuve , Philippe Wenger
11ème Colloque National AIP PRIMECA, Apr 2009, La Plagne, France. pp.45
Communication dans un congrès hal-00432669v1

Optimisation de placement dans les problèmes de conception

Guillaume Jacquenot , Fouad Bennis , Jean-Jacques Maisonneuve , Philippe Wenger
Congrès Français de Mécanique CFM'2009, Aug 2009, Marseille, France. pp.6
Communication dans un congrès hal-00432672v1
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Optimisation de placement dans les problèmes de conception

Guillaume Jacquenot , Fouad Bennis , Jean-Jacques Maisonneuve , Philippe Wenger
CFM 2009 - 19ème Congrès Français de Mécanique, Aug 2009, Marseille, France
Communication dans un congrès hal-03391298v1
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Présentation d'une méthode de résolution pour les problèmes de placement 2D et 3D

Guillaume Jacquenot , Fouad Bennis , Jean-Jacques Maisonneuve , Philippe Wenger
ROADEF 2009, Feb 2009, Nancy, France
Communication dans un congrès hal-00432671v1
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Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators

Philippe Wenger , Damien Chablat
International Workshop on Computational Kinematics, May 2009, Duisburg, Germany. pp.1-8
Communication dans un congrès hal-00412923v1
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Analyse de la rigidité des machines outils 3 axes d'architecture parallèle hyperstatique

Anatol Pashkevich , Damien Chablat , Philippe Wenger
5eme Assises Machines et Usinage à grande vitesse, Jun 2008, Nantes, France. pp.1-10
Communication dans un congrès hal-00340626v1
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Stiffness Analysis Of Multi-Chain Parallel Robotic Systems

Anatol Pashkevich , Damien Chablat , Philippe Wenger
9th IFAC Workshop on Intelligent Manufacturing Systems, Oct 2008, France. pp.1-6
Communication dans un congrès hal-00326672v1
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Kinematic and Dynamic Analyses of the Orthoglide 5-axis

Raza Ur-Rehman , Stéphane Caro , Damien Chablat , Philippe Wenger
Congress on Mechatronics, May 2008, Le Grand-Bornand, France. pp.1-6
Communication dans un congrès hal-00322702v1
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Singularity Analysis of Limited-dof Parallel Manipulators using Grassmann-Cayley Algebra

Daniel Kanaan , Philippe Wenger , Damien Chablat
11th International Symposium on Advances in Robot Kinematics, Jun 2008, France. pp.1-10
Communication dans un congrès hal-00322720v1
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Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots

Ilian Bonev , Sébastien Briot , Philippe Wenger , Damien Chablat
2nd International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Sep 2008, Montpellier, France. pp.1-4
Communication dans un congrès hal-00323101v1
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Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators

Anatol Pashkevich , Damien Chablat , Philippe Wenger
ICRA IEEE Int. Conference on Robotics and Automation, May 2008, Pasadena, United States. pp.6
Communication dans un congrès hal-00257728v1
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SINGULAB - A Graphical user Interface for the Singularity Analysis of Parallel Robots based on Grassmann-Cayley Algebra

Patricia Ben-Horin , Moshe Shoham , Stéphane Caro , Damien Chablat , Philippe Wenger
Advances in Robot Kinematics, Jun 2008, Batz sur Mer, France. pp.1-10
Communication dans un congrès hal-00322730v1
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Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances

Anatol Pashkevich , Philippe Wenger , Damien Chablat
ICRA, Apr 2007, Rome, Italy. pp.1-6
Communication dans un congrès hal-00164595v1
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Kinematics analysis of the parallel module of the VERNE machine

Daniel Kanaan , Philippe Wenger , Damien Chablat
The 12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6
Communication dans un congrès hal-00145391v1
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Workspace and Kinematic Analysis of the VERNE machine

Daniel Kanaan , Philippe Wenger , Damien Chablat
AIM, Sep 2007, Zürich, Switzerland. pp.1-6
Communication dans un congrès hal-00164877v1
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Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
Jun 2007, Besançon, France. pp.1-6
Communication dans un congrès hal-00145398v1
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A design oriented study for 3R Orthogonal Manipulators With Geometric Simplifications

Mazen Zein , Philippe Wenger , Damien Chablat
Mar 2007, Monastir, Tunisia. pp.1-8
Communication dans un congrès hal-00162690v1
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Calibration of quasi-isotropic parallel kinematic Machines: Orthoglide

Anatol Pashkevich , Roman Gomolitsky , Philippe Wenger , Damien Chablat
May 2007, Angers, France. pp.1-8
Communication dans un congrès hal-00145161v1
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An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
European Conference on Mechanism Science, Feb 2006, Obergurgl, Austria. pp.1-12
Communication dans un congrès hal-00145468v1
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Global Optimization of Performance of & 2PRR Parallel Manipulator for Cooperative Tasks

Hector Moreno , Alfonso Pamanes , Philippe Wenger , Damien Chablat
3rd International Conference on Informatics in Control, Aug 2006, Setubal, Portugal. pp.1-7
Communication dans un congrès hal-00169506v1
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Singular curves and cusp points in the joint space of 3-RPR parallel manipulators

Mazen Zein , Philippe Wenger , Damien Chablat
2006, Orlando, United States. pp.1-6
Communication dans un congrès hal-00160809v1
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Kinematic Calibration of the Orthoglide-Type Mechanisms

Anatol Pashkevich , Damien Chablat , Philippe Wenger
2006, Saint Etienne, France. pp.1-6
Communication dans un congrès hal-00145163v1
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Kinematic analysis of the 3-RPR parallel manipulator

Damien Chablat , Philippe Wenger , Ilian Bonev
10th International Symposium on Advances in Robot Kinematics, Jun 2006, Ljubljana, Slovenia. pp.221-228
Communication dans un congrès hal-00168606v1
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A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye

Damien Chablat , Philippe Wenger
IDETC, 2006, Philadelphie, United States. pp.1-8
Communication dans un congrès hal-00164992v1
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Working and Assembly Modes of the Agile Eye

Ilian Bonev , Damien Chablat , Philippe Wenger
IEEE International Conference On Robotics And Automation, May 2006, Orlando, United States. pp.2317-2322
Communication dans un congrès hal-00168519v1
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Analyse Comparative des Manipulateurs 3R à Axes Orthogonaux

Maher Baili , Damien Chablat , Philippe Wenger
Congrès international Conception et Modélisation des Systèmes Mécaniques, Mar 2005, Hammamet, Tunisie. pp.1-12
Communication dans un congrès hal-00165061v1
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A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye

Damien Chablat , Philippe Wenger
Virtual Concept, Nov 2005, France. pp.1-6
Communication dans un congrès hal-00165085v1
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An Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators with Geometric Simplifications

Mazen Zein , Philippe Wenger , Damien Chablat
Proceedings of CK2005, International Workshop on Computational Kinematics, May 2005, Cassino, Italy. pp.1-12
Communication dans un congrès hal-00165015v1
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Comparison of Robustness Indices and Introduction of a Tolerance Synthesis Method for Mechanisms

Stéphane Caro , Fouad Bennis , Philippe Wenger
Canadian Congress of Applied Mechanics, May 2005, Montreal, Canada. pp.1-2
Communication dans un congrès hal-00465501v1
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Design of a Spherical Wrist with Parallel Architecture: Application to Vertebrae of an Eel Robot

Damien Chablat , Philippe Wenger
ICRA, Apr 2005, Barcelone, Spain. pp.1-6
Communication dans un congrès hal-00162717v1
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A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis

Damien Chablat , Philippe Wenger , Jean-Pierre Merlet
Apr 2004, Tianjin, China. pp.1-6
Communication dans un congrès hal-00163905v1
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A Workspace based Classification of 3R Orthogonal Manipulators

Philippe Wenger , Maher Baili , Damien Chablat
2004, Sestri-Levante, Italy. pp.1-10
Communication dans un congrès hal-00145373v1
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The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator

Damien Chablat , Philippe Wenger
15th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (Romansy), 2004, Montréal, Canada. pp.1-7
Communication dans un congrès hal-00144971v1
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Parametric Stiffness Analysis of the Orhtoglide

Félix Majou , Clément Gosselin , Philippe Wenger , Damien Chablat
International Symposium on Robotics, Mar 2004, Paris, France. pp.1-7
Communication dans un congrès hal-00168400v1
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A Classification of 3R Orthogonal Manipulators by the Topology of their Workspace

Maher Baili , Philippe Wenger , Damien Chablat
ICRA, Apr 2004, Barcelona, Spain. pp.1-6
Communication dans un congrès hal-00163907v1
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The Orthoglide: Kinematics and Workspace Analysis

Anatol Pashkevich , Damien Chablat , Philippe Wenger
2004, Sestri-Levante, Italy. pp.1-10
Communication dans un congrès hal-00145372v1
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Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine

Stéphane Caro , Philippe Wenger , Fouad Bennis , Damien Chablat
ASME Design Engineering Technical Conferences, Sep 2004, Salt Lake City, United States. pp.1-10, ⟨10.1115/1.2166852⟩
Communication dans un congrès hal-00170102v1
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The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications

Damien Chablat , Philippe Wenger , Félix Majou
ICRA, 2003, Coimbra, Portugal. pp.1-6
Communication dans un congrès hal-00145366v1
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Classification of one family of 3R positioning Manipulators

Maher Baili , Philippe Wenger , Damien Chablat
2003, Coimbra, Portugal. pp.1-6
Communication dans un congrès hal-00145367v1
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A New Concept of Modular Parallel Mechanism for Machining Applications

Damien Chablat , Philippe Wenger
2003, Taipei, Taiwan. pp.1-6
Communication dans un congrès hal-00145368v1
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A Novel method for the design of 2-DOF Parallel mechanisms for machining applications

Félix Majou , Philippe Wenger , Damien Chablat
2002, Caldes de Malavella, Spain. pp.1-11
Communication dans un congrès hal-00145299v1
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Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide

Philippe Wenger , Damien Chablat
2002, Québec, Canada. pp.1-9
Communication dans un congrès hal-00145281v1
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Etat de l'art de la Conception Robuste de Mécanismes

Stéphane Caro , Fouad Bennis , Philippe Wenger
Journée AIP-PRIMECA, Jan 2002, Cachan, France. pp.1-10
Communication dans un congrès hal-00465473v1
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The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

Damien Chablat , Stéphane Caro , Philippe Wenger , Jorge Angeles
2002, Clermont-Ferrand, France. pp.1-10
Communication dans un congrès hal-00145264v1
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L'orthoglide : une machine-outil rapide d'architecture parallèle isotrope

Philippe Wenger , Damien Chablat , Félix Majou
2ème Assises Machines et Usinage à Grande Vitesse, Mar 2002, France. pp.1-9
Communication dans un congrès hal-00165111v1
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Workspace Analysis of the Orthoglide using Interval Analysis

Damien Chablat , Philippe Wenger , Jean-Pierre Merlet
2002, Caldes de Malavella, Spain. pp.1-10
Communication dans un congrès hal-00145304v1
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Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide

Sylvain Guegan , Wisama Khalil , Damien Chablat , Philippe Wenger
CIFA, Jul 2002, Nantes, France. pp.1-6
Communication dans un congrès hal-00162630v1
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Robots à Architecture Complexe : De la Conception à la Performance et l'Autonomie

Nicolas Andreff , Belhassen-Chedli Bouzgarrou , Etienne Dombre , Damien Chablat , Olivier Company
ROBEA 2002 - 2ièmes Journées Bilan du Programme Interdisciplinaire ROBotique et Entités Artificielles, 2002, Toulouse, France. pp.7-11
Communication dans un congrès lirmm-00268624v1
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Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide

Félix Majou , Philippe Wenger , Damien Chablat
IDMME, 4ème conférence internationale sur la conception et la fabrication intégrées en mécanique, May 2002, Clermont-Ferrand, France. pp.1-10
Communication dans un congrès hal-00145262v1
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The Isoconditioning Loci of Planar Three-DOF Parallel Manipulators

Damien Chablat , Philippe Wenger , Stéphane Caro , Jorge Angeles
ASME 29th Design Automation Conference, Sep 2002, Montreal, Canada. pp.1-6, ⟨10.1115/DETC2002/MECH-34268⟩
Communication dans un congrès hal-00168513v1
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The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria

Félix Majou , Philippe Wenger , Damien Chablat
The 3rd INTERNATIONAL CONFERENCE ON METAL CUTTING AND HIGH SPEED MACHINING, 2001, Metz, France. pp.1-10
Communication dans un congrès hal-00145122v1
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A Comparative Study of Parallel Kinematic Architectures for Machining Applications

Philippe Wenger , Clément Gosselin , Damien Chablat
WCK, May 2001, Séoul, South Korea. pp.1-6
Communication dans un congrès hal-00165167v1
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Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide

Philippe Wenger , Damien Chablat
ARK, 2000, Slovenia. pp.1-11
Communication dans un congrès hal-00165169v1
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Conception Isotropique d'une morphologie parallèle : Application à l'usinage

Damien Chablat , Philippe Wenger , Jorge Angeles
IDMME, May 2000, Montréal, Canada. pp.1-10
Communication dans un congrès hal-00162571v1
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A New Three-DOF Parallel Mechanism: Milling Machine Applications

Damien Chablat , Philippe Wenger
2000, Chemnitz, Germany. pp.1-9
Communication dans un congrès hal-00145120v1
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La parcourabilité pour les manipulateurs pleinement parallèles

Damien Chablat , Philippe Wenger
La Plagne AIP-Priméca, 1999, La Plagne, France. pp.1-8
Communication dans un congrès hal-00145086v1
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On the characterization of the regions of feasible trajectories in the workspace of parallel manipulators

Damien Chablat , Philippe Wenger
Tenth World Congress On The Theory Of Machines And Mechanisms, Jun 1999, Oulu, Finland. pp.1-6
Communication dans un congrès hal-00428530v1
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Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators

Damien Chablat , Philippe Wenger
Tenth World Congress on the Theory of Machines and Mechanisms, Jun 1999, Oulu, Finland. pp.1-6
Communication dans un congrès hal-00145125v1
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Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study

Philippe Wenger , Damien Chablat
ARK, 1998, Austria. pp.117-126
Communication dans un congrès hal-00162563v1
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Working Modes and Aspects in Fully-Parallel Manipulator

Damien Chablat , Philippe Wenger
International Conference on Robotics and Automation, May 1998, Bruxelle, Belgium. pp.1964-1969, ⟨10.1109/ROBOT.1998.680601⟩
Communication dans un congrès hal-00162268v1
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The Isoconditioning Loci of A Class of Closed-Chain Manipulators

Damien Chablat , Philippe Wenger , Jorge Angeles
May 1998, Bruxelle, Belgium. pp.1970-1976
Communication dans un congrès hal-00162274v1
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The Kinematic design of a 3-dof Hybrid Manipulator

Damien Chablat , Philippe Wenger , Jorge Angeles
Integrated Design and Manufacturing in Mechanical Engineering, 1998, Compiègne, France. pp.1-8
Communication dans un congrès hal-00145047v1
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Moveability and Collision Analysis for Fully-Parallel Manipulators

Damien Chablat , Philippe Wenger
RoManSy, Jul 1998, Paris, France. pp.1-8
Communication dans un congrès hal-00162334v1
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Uniqueness Domains in the Workspace of Parallel Manipulators

Philippe Wenger , Damien Chablat
1997, Nantes, France. pp.1-6
Communication dans un congrès hal-00145036v1
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Definition sets for the Direct Kinematics of Parallel Manipulators

Philippe Wenger , Damien Chablat
8th International Conference in Advanced Robotics, Jul 1997, Monterey, United States. pp.859 - 864, ⟨10.1109/ICAR.1997.620282⟩
Communication dans un congrès hal-00144986v1
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Un robot en tenségrité inspiré du cou de l'oiseau

Philippe Wenger , Benjamin Fasquelle , Anick Abourachid , Christine Chevallereau
Techniques de l'Ingénieur, 2023, Automatique-Robotique
Chapitre d'ouvrage hal-03949022v1
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A New Sitting-type Lower-Limb Rehabilitation Robot based on a Spatial Parallel Kinematic Machine

J Mohanta , S Mohan , Philippe Wenger , Christine Chevallereau
Springer. Lecture Notes in Mechanical Engineering, 2021, 978-981-15-4476-7
Chapitre d'ouvrage hal-03639735v1
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Static analysis and design strategy of two antagonistically actuated joints

Vimalesh Muralidharan , Philippe Wenger , Matthieu Furet
New Trends in Mechanism and Machine Science, 2020
Chapitre d'ouvrage hal-03010558v1
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Kinematic analysis of a planar manipulator with anti-parallelogram joints and offsets

Philippe Wenger , Matthieu Furet
Advances in Robot Kinematics, Springer, 2020
Chapitre d'ouvrage hal-03010542v1
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Using Maple to analyse parallel robots

Damien Chablat , Guillaume Moroz , Fabrice Rouillier , Philippe Wenger
Jürgen Gerhard; Ilias Kotsireas. Maple in Mathematics Education and Research, Springer, Cham, pp.50-64, 2020, Maple in Mathematics Education and Research, 978-3-030-41257-9. ⟨10.1007/978-3-030-41258-6_4⟩
Chapitre d'ouvrage hal-02289699v1
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Algebraic Analysis of a 3-RUU Parallel Manipulator

Thomas Stigger , Abhilash Nayak , Stéphane Caro , Philippe Wenger , Martin Pfurner
In: Lenarcic J., Parenti-Castelli V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham, pp.141-149, 2019, ⟨10.1007/978-3-319-93188-3_17⟩
Chapitre d'ouvrage hal-02405202v1
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Operation modes and workspace of a 4-rRUU Parallel Manipulator

Abhilash Nayak , Stéphane Caro , Philippe Wenger
In: Uhl T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham, pp.649-657, 2019, ⟨10.1007/978-3-030-20131-9_65⟩
Chapitre d'ouvrage hal-02404455v1
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Dynamic modeling and control of a tensegrity manipulator mimicking a bird neck

Benjamin Fasquelle , Matthieu Furet , Christine Chevallereau , Philippe Wenger
Advances in Mechanism and Machine ScienceProceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, pp.2087-2097, 2019, 978-3-030-20130-2. ⟨10.1007/978-3-030-20131-9_207⟩
Chapitre d'ouvrage hal-02353763v1
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Cuspidal Robots

Philippe Wenger
Springer. Singular Configurations of Mechanisms and Manipulators, pp.67 - 99, 2019, CISM International Centre for Mechanical Sciences, ⟨10.1007/978-3-030-05219-5_3⟩
Chapitre d'ouvrage hal-03375029v1
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Preliminary survey of backdrivable linear actuators for humanoid robots

Philippe Bruno Lucidarme , Nicolas Delanoue , Franck Mercier , Yannick Aoustin , Christine Chevallereau
ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, 2019
Chapitre d'ouvrage hal-01984430v1
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Kinematic Analysis and Design Optimization of a 4-rRUU Parallel Manipulator

Abhilash Nayak , Stéphane Caro , Philippe Wenger
Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, 2019, Advances in Mechanism and Machine Science Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science, ⟨10.1007/978-3-030-20131-9⟩
Chapitre d'ouvrage hal-02353780v1
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Hidden cusps

Michel Coste , Philippe Wenger , Damien Chablat
Jadran Lenarcic; Jean-Pierre Merlet. Advances in Robot Kinematics 2016, 4, Springer, pp.129-138, 2018, Springer Proceedings in Advanced Robotics, 978-3-319-56801-0. ⟨10.1007/978-3-319-56802-7_14⟩
Chapitre d'ouvrage hal-01309185v1
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Kinetostatic Analysis and Solution Classification of a Planar Tensegrity Mechanism

Philippe Wenger , Damien Chablat
Computational Kinematics. Mechanisms and Machine Science, 50, Springer, Cham, 2017, 978-3-319-60866-2. ⟨10.1007/978-3-319-60867-9_48⟩
Chapitre d'ouvrage hal-01525686v1
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Comparison of 3-RPS and 3-SPR Parallel Manipulators based on their Maximum Inscribed Singularity-free Circle

Abhilash Nayak , Latifah Nurahmi , Philippe Wenger , Stéphane Caro
New Trends in Mechanism and Machine Science Theory and Industrial Applications, 43, pp.121-130, 2017, Mechanisms and Machine Science, ⟨10.1007/978-3-319-44156-6_13⟩
Chapitre d'ouvrage hal-01758006v1
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Kinematic and Dynamic Modeling of a Parallel Manipulator with Eight Actuation Modes

Stéphane Caro , Damien Chablat , Philippe Wenger , Xianwen Kong
New Trends in Medical and Service Robots, pp.315 - 329, 2014, 978-3-319-05431-5. ⟨10.1007/978-3-319-05431-5_21⟩
Chapitre d'ouvrage hal-01592330v1
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Nonsingular change of assembly mode without any cusp

Michel Coste , Damien Chablat , Philippe Wenger
Jadran Lenarcic; Oussama Khatib. Advances in Robot Kinematics, Springer, pp.105-112, 2014, 978-3-319-06697-4. ⟨10.1007/978-3-319-06698-1_12⟩
Chapitre d'ouvrage hal-00959842v1
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Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace

Damien Chablat , Guillaume Moroz , Vigen Arakelian , Sébastien Briot , Philippe Wenger
Lenarcic J., Husty M. Latest Advances in Robot Kinematics, Springer, Dordrecht, pp.357-364, 2012, 978-94-007-4619-0
Chapitre d'ouvrage hal-00687005v1
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Perturbation of symmetric 3-RPR manipulators and asymptotic singularities

Michel Coste , Damien Chablat , Philippe Wenger
F. Viadero, M. Ceccarelli. New Trends in Mechanism and Machine Science, Springer, pp.23--31, 2012, Mechanisms and Machine Science vol. 7, 978-94-007-4901-6. ⟨10.1007/978-94-007-4902-3⟩
Chapitre d'ouvrage hal-00674039v1
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Optimal Force Generation of 3-RRR Decoupled Planar Robots for Ensuring Unlimited Platform Rotation

Sébastien Briot , Vigen Arakelian , Damien Chablat , Philippe Wenger
Romansy 19 – Robot Design, Dynamics and Control, Springer, pp.109-116, 2012, CISM International Centre for Mechanical Sciences, 978-3-7091-1378-3. ⟨10.1007/978-3-7091-1379-0_14⟩
Chapitre d'ouvrage hal-00687694v1
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Calibration of 3-d.o.f. Translational Parallel Manipulators Using Leg Observations

Anatol Pashkevich , Damien Chablat , Philippe Wenger , Roman Gomolitsky
Jee-Hwan Ryu. Parallel Manipulators, New Developments, I-Tech Education and Publishing, pp.225-240, 2008
Chapitre d'ouvrage hal-00428919v1
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Kinematic calibration of orthoglide-type mechanisms

Anatol Pashkevich , Damien Chablat , Philippe Wenger
Alexandre Dolgui, Gérard Morel and Carlos E. Pereira. Information Control Problems in Manufacturing 2006, Elsevier, pp.149-154, 2006, A Proceedings Volume from the 12th IFAC Conference 17-19 May 2006, Saint-Etienne, France
Chapitre d'ouvrage hal-00186773v1
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The Isoconditioning Loci of Planar Three-Dof Parallel Manipulators

Stéphane Caro , Damien Chablat , Philippe Wenger , Jorge Angeles
Recent Advances in Integrated Design and Manufacturing in Mechanical Engineering, Kluwer, pp.129-138, 2006, ⟨10.1007/978-94-017-0161-7_13⟩
Chapitre d'ouvrage hal-00463599v1