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Philippe Wenger

24
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

1005
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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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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
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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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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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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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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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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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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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Cuspidal and Noncuspidal Robot Manipulators

Philippe Wenger
Robotica, 2007, 25 (6), pp.717-724
Article dans une revue hal-00454562v1
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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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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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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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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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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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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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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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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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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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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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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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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