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Journal Articles

Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace

Nicolas J. S. Testard, Christine Chevallereau, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010907.
Paper No: JMR-23-1581
https://doi.org/10.1115/1.4065633
Published Online: June 17, 2024
View Article titled, Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace
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Topics: Manipulators, Tendons, Tension
Journal Articles

Coactivation in Symmetric Four-Bar Mechanisms Antagonistically Actuated by Cables

Vimalesh Muralidharan, Christine Chevallereau, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010902.
Paper No: JMR-23-1570
https://doi.org/10.1115/1.4064981
Published Online: June 7, 2024
View Article titled, Coactivation in Symmetric Four-Bar Mechanisms Antagonistically Actuated by Cables
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Topics: Cables, Stiffness
Journal Articles

Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint

Isaac John, Santhakumar Mohan, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091003.
Paper No: JMR-23-1678
https://doi.org/10.1115/1.4064254
Published Online: February 1, 2024
View Article titled, Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint
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Topics: Cables, Stiffness, Stability, Equilibrium (Physics), Screws, Robots, Mechanical admittance, Kinematics, Manipulators, Potential energy
Journal Articles

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035002.
Paper No: JMR-22-1185
https://doi.org/10.1115/1.4062302
Published Online: April 27, 2023
View Article titled, Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
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Topics: Cables, Manipulators, Stiffness, Equilibrium (Physics), Springs
Journal Articles

A Review of Cuspidal Serial and Parallel Manipulators

Philippe Wenger, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Review Articles
J. Mechanisms Robotics. August 2023, 15(4): 040801.
Paper No: JMR-22-1211
https://doi.org/10.1115/1.4055677
Published Online: November 15, 2022
View Article titled, A Review of Cuspidal Serial and Parallel Manipulators
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Topics: Robots
Journal Articles

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, Stéphane Jolivet, Philippe Lemoine, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011005.
Paper No: JMR-21-1108
https://doi.org/10.1115/1.4051521
Published Online: July 6, 2021
View Article titled, Identification and Control of a 3-X Cable-Driven Manipulator Inspired From the Bird’s Neck
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Topics: Cables, Friction, Stiffness
Proceedings Papers

Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators

Damien Chablat, Philippe Wenger
Proc. ASME. DETC99, Volume 1: 25th Design Automation Conference, 1507-1512, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/DAC-8645
https://doi.org/10.1115/DETC99/DAC-8645
View Paper titled, Regions of Feasible Point-to-Point Trajectories in the Cartesian Workspace of Fully-Parallel Manipulators
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Topics: Manipulators, Construction, Kinematics, Octrees, Space
Proceedings Papers

Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot

Swaminath Venkateswaran, Matthieu Furet, Damien Chablat, Philippe Wenger
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A026, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97544
https://doi.org/10.1115/DETC2019-97544
View Paper titled, Design and Analysis of a Tensegrity Mechanism for a Bio-Inspired Robot
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Topics: Biomimetics, Design, Robots, Tensegrity mechanisms, Cables, Pipes, Inspection, End effectors, Junctions, Pipe bends
Journal Articles

Kinetostatic Analysis and Actuation Strategy of a Planar Tensegrity 2-X Manipulator

Matthieu Furet, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060904.
Paper No: JMR-19-1083
https://doi.org/10.1115/1.4044209
Published Online: September 10, 2019
View Article titled, Kinetostatic Analysis and Actuation Strategy of a Planar Tensegrity 2-X Manipulator
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Topics: Kinematics, Manipulators, Stiffness, Tensegrity, Cables
Proceedings Papers

Operation Modes and Singularities of 3-PRS Parallel Manipulators With Different Arrangements of P-Joints

Latifah Nurahmi, Stéphane Caro, Philippe Wenger
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A015, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47935
https://doi.org/10.1115/DETC2015-47935
View Paper titled, Operation Modes and Singularities of 3-PRS Parallel Manipulators With Different Arrangements of P-Joints
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Topics: Manipulators, Algebra, Jacobian matrices, Kinematics
Journal Articles

Natural Frequency Computation of Parallel Robots

Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. March 2015, 10(2): 021004.
Paper No: CND-13-1194
https://doi.org/10.1115/1.4028573
Published Online: March 1, 2015
View Article titled, Natural Frequency Computation of Parallel Robots
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Topics: Computation, Robots, Stiffness, Tree (Data structure)
Journal Articles

Kinematic Analysis of the 3-RPS Cube Parallel Manipulator

Latifah Nurahmi, Josef Schadlbauer, Stéphane Caro, Manfred Husty, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011008.
Paper No: JMR-14-1262
https://doi.org/10.1115/1.4029305
Published Online: February 1, 2015
View Article titled, Kinematic Analysis of the 3-RPS Cube Parallel Manipulator
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Topics: Manipulators, Reactor protection systems, Kinematics
Proceedings Papers

Kinematic Analysis of the 3-RPS Cube Parallel Manipulator

Latifah Nurahmi, Josef Schadlbauer, Manfred Husty, Philippe Wenger, Stéphane Caro
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A064, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35488
https://doi.org/10.1115/DETC2014-35488
View Paper titled, Kinematic Analysis of the 3-RPS Cube Parallel Manipulator
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Topics: Kinematic analysis, Manipulators, Reactor protection systems, Kinematics, Algebra, Design, Jacobian matrices
Proceedings Papers

Conceptual Design of Schoenflies Motion Generators Based on the Wrench Graph

Semaan Amine, Latifah Nurahmi, Philippe Wenger, Stéphane Caro
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A058, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13084
https://doi.org/10.1115/DETC2013-13084
View Paper titled, Conceptual Design of Schoenflies Motion Generators Based on the Wrench Graph
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Topics: Conceptual design, Generators, Manipulators, Manufacturing, Architecture, Geometry, Kinematics, Screws
Proceedings Papers

Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory

Coralie Germain, Stéphane Caro, Sébastien Briot, Philippe Wenger
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A056, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13037
https://doi.org/10.1115/DETC2013-13037
View Paper titled, Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory
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Topics: Design, Trajectories (Physics), Optimization, Manipulators, Cascades (Fluid dynamics), Cycles, Degrees of freedom, Engineering prototypes, Kinematics
Proceedings Papers

Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot

Stéphane Caro, Philippe Wenger, Damien Chablat
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1245-1254, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70662
https://doi.org/10.1115/DETC2012-70662
View Paper titled, Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot
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Topics: Manufacturing, Robots, Manipulators, Degrees of freedom, Kinematics
Proceedings Papers

Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators

Dinh Quan Nguyen, Sébastien Briot, Philippe Wenger
Proc. ASME. ESDA2012, Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 175-184, July 2–4, 2012
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2012-82208
https://doi.org/10.1115/ESDA2012-82208
View Paper titled, Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators
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Topics: Manipulators, Kinematics, Dynamic analysis
Journal Articles

Cusp Points in the Parameter Space of Degenerate 3-R P R Planar Parallel Manipulators

Montserrat Manubens, Guillaume Moroz, Damien Chablat, Philippe Wenger, Fabrice Rouillier
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041003.
https://doi.org/10.1115/1.4006921
Published Online: August 10, 2012
View Article titled, Cusp Points in the Parameter Space of Degenerate 3-R P R Planar Parallel Manipulators
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Topics: Algebra, Algorithms, Computation, Computer-aided design, Manipulators, Polynomials
Proceedings Papers

Singularity Analysis of the 4- R UU Parallel Manipulator Based on Grassmann-Cayley Algebra and Grassmann Geometry

Semaan Amine, Mehdi Tale Masouleh, Ste´phane Caro, Philippe Wenger, Cle´ment Gosselin
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1017-1026, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48226
https://doi.org/10.1115/DETC2011-48226
View Paper titled, Singularity Analysis of the 4- R UU Parallel Manipulator Based on Grassmann-Cayley Algebra and Grassmann Geometry
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Topics: Algebra, Geometry, Manipulators, Jacobian matrices, Rotation
Proceedings Papers

IRSBot-2: A Novel Two-DOF Parallel Robot for High-Speed Operations

Coralie Germain, Se´bastien Briot, Victor Glazunov, Ste´phane Caro, Philippe Wenger
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 899-909, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47564
https://doi.org/10.1115/DETC2011-47564
View Paper titled, IRSBot-2: A Novel Two-DOF Parallel Robot for High-Speed Operations
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Topics: Robots, Kinematic chains, Stiffness