Philippe Wenger

235
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Publications

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Modeling and analysis of a four-leg tensegrity mechanism

Karol Muñoz , Mathieu Porez , Philippe Wenger

Mechanism and Machine Theory, 2025, 211, pp.106009. ⟨10.1016/j.mechmachtheory.2025.106009⟩

Article dans une revue hal-05093485v1
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Compound Cable-Driven Parallel Robots for improved wrench-feasible workspace and stiffness modulation

Mikael Arslan , Christine Chevallereau , Philippe Wenger , Stéphane Caro

Mechanism and Machine Theory, 2025, 217, pp.106262. ⟨10.1016/j.mechmachtheory.2025.106262⟩

Article dans une revue hal-05335309v1
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Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace

Nicolas J S Testard , Christine Chevallereau , Philippe Wenger

Journal of Mechanisms and Robotics, 2025, 17 (1), ⟨10.1115/1.4065633⟩

Article dans une revue hal-04643098v1

Kinetostatic Analysis of a Spatial Cable-Actuated Variable Stiffness Joint

Isaac John , Santhakumar Mohan , Philippe Wenger

Journal of Mechanisms and Robotics, 2024, 16 (9), ⟨10.1115/1.4064254⟩

Article dans une revue hal-05264337v1
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Kinematic issues in 6R cuspidal robots, guidelines for path planning and deciding cuspidality

Durgesh Haribhau Salunkhe , Tobias Marauli , Andreas Müller , Damien Chablat , Philippe Wenger

The International Journal of Robotics Research, 2024, 44 (6), pp.1035-1054

Article dans une revue hal-04712576v1
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Control analysis of an underactuated bio-inspired robot

Nicolas J.S. Testard , Christine Chevallereau , Philippe Wenger

Robotica, In press, ⟨10.1017/S0263574724001103⟩

Article dans une revue hal-04710904v1
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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-04507710v2
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Optimal design and comparison of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators

Vimalesh Muralidharan , Philippe Wenger , Christine Chevallereau

Mechanism and Machine Theory, 2024, 200, pp.105721. ⟨10.1016/j.mechmachtheory.2024.105721⟩

Article dans une revue hal-04644354v1
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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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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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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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Estimating motion between avian vertebrae by contact modeling of joint surfaces

Matthieu Furet , Anick Abourachid , Christine Böhmer , Valentine Chummun , Christine Chevallereau et al.

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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Design and Optimization of a Planar Biped Leg Based on Direct Drive Linear Actuators

M. Langard , Ph. Lucidarme , N. Delanoue , R. Guyonneau , Franck Mercier et al.

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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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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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 et al.

Journal of Mechanisms and Robotics, 2022, 14 (1), ⟨10.1115/1.4051521⟩

Article dans une revue hal-03314549v1
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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 et al.

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, ⟨10.1016/j.mechmachtheory.2021.104249⟩

Article dans une revue hal-03107170v1
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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 et al.

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, ⟨10.51257/a-v1-s7857⟩

Article dans une revue hal-03345018v2
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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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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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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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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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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

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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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
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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
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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

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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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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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 istex hal-00914024v1

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 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 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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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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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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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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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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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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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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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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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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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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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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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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Cuspidal and Noncuspidal Robot Manipulators

Philippe Wenger

Robotica, 2007, 25 (6), pp.717-724

Article dans une revue hal-00454562v1
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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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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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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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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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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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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

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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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
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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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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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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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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 istex 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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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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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 istex hal-02355205v1
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Stiffness Analysis and Tuning of a Four-Leg Tensegrity Mechanism

Karol Muñoz , Mathieu Porez , Philippe Wenger

Cablecon 2025 - Seventh International Conference on Cable-Driven Parallel Robots, The Chinese University of Hong Kong, Hong Kong SAR, China; University of Duisburg-Essen, Germany; University of Stuttgart, Germany, Jul 2025, Hong Kong, China

Communication dans un congrès hal-05093495v1
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Kinematic and static analyses of the spherical X-joint: a new cable-driven spherical 4R linkage

Vimalesh Muralidharan , Durgesh Haribhau Salunkhe , Christine Chevallereau , Philippe Wenger

Computational Kinematics, Nov 2025, Chennai (India), India

Communication dans un congrès hal-05429501v1
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Investigating the Stiffness of a Planar Cable-Driven Parallel Robot: Modeling and Experimental Validation

Mikael Arslan , Stéphane Caro , Christine Chevallereau , Philippe Wenger

CableCon 2025, Darwin Lau; Tobias Bruckmann; Andreas Pott, Jul 2025, Hong Kong (China), China. pp.130-140, ⟨10.1007/978-3-031-94608-0_11⟩

Communication dans un congrès hal-05225901v1
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A Simple Revolute Joint with Coactivation Principle

Philippe Wenger , Christine Chevallereau

European Conference on Mechanism Science— EuCoMeS 2024, Giulio Rosati Marco Ceccarelli Alessandro Gasparetto, Sep 2024, Padova, Italy. pp.174-182, ⟨10.1007/978-3-031-67295-8_20⟩

Communication dans un congrès hal-04813889v1
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A Class of Planar 3-Dof Cable-Driven Parallel Robots with Decoupled Workspace

Philippe Wenger , Christine Chevallereau , Stéphane Caro

Mechanism and Machine Theory Symposium, celebrating 60 years since the journal's foundation, Andrés Kecskeméthy, Paulo Flores, Jun 2024, Guimarães, Portugal

Communication dans un congrès hal-04671100v1
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Kinematics and Workspace of a Spatial 3-DoF Manipulator with Anti-parallelogram joints

Vimalesh Muralidharan , Christine Chevallereau , Philippe Wenger

Advances in Robot Kinematics 2024, Jul 2024, Ljubljana, Slovenia. pp.32-42, ⟨10.1007/978-3-031-64057-5_5⟩

Communication dans un congrès hal-04644356v1
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Kinematic and Static Analyses of a 3-DOF Spatial Tensegrity Mechanism

Karol Muñoz , Mathieu Porez , Philippe Wenger

Advances in Robot Kinematics, Jun 2024, Ljubljana, Slovenia. pp.314-323, ⟨10.1007/978-3-031-64057-5_36⟩

Communication dans un congrès hal-04770194v1
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Compound Cable-driven Parallel Robot for a Larger Wrench-feasible Workspace

Christine Chevallereau , Philippe Wenger , Stéphane Caro

Advances in Robot Kinematics 2024, Jul 2024, Ljubljana, Slovenia. pp.130-139, ⟨10.1007/978-3-031-64057-5_16⟩

Communication dans un congrès hal-04653314v1
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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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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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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

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 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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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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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
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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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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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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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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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A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints

Benjamin Fasquelle , Matthieu Furet , Parag Khanna , Damien Chablat , Christine Chevallereau et al.

ICRA'2020, May 2020, Paris, France. ⟨10.1109/icra40945.2020.9196589⟩

Communication dans un congrès hal-02517339v1
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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 et al.

44ème congrès de la Société de Biomécanique, Oct 2019, Poitiers, France. ⟨10.1080/10255842.2020.1713463⟩

Communication dans un congrès hal-02265058v1
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Prototype of a tensegrity manipulator to mimic bird necks

Matthieu Furet , Damien Chablat , Benjamin Fasquelle , Parag Khanna , Christine Chevallereau et al.

24ème Congrès Français de Mécanique, Aug 2019, Brest, France

Communication dans un congrès hal-02264288v1
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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 et al.

ICRA'2019 Worskhop on Tensegrity, May 2019, Montréal, Canada

Communication dans un congrès hal-02355070v1
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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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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. ⟨10.1007/978-3-319-93188-3_18⟩

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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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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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. ⟨10.1007/978-3-030-00365-4_14⟩

Communication dans un congrès hal-01810820v1
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Algebraic Analysis of a 3-RUU Parallel Manipulator

Thomas Stigger , Abhilash Nayak , Stéphane Caro , Philippe Wenger , Martin Pfurner et al.

The 16th International Symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨10.1007/978-3-319-93188-3_17⟩

Communication dans un congrès hal-01757514v1

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. ⟨10.1007/978-981-15-4477-4_54⟩

Communication dans un congrès hal-01984427v1
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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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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. ⟨10.1007/978-3-319-60867-9_57⟩

Communication dans un congrès hal-01757936v1
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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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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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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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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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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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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 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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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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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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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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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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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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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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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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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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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 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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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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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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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. pp.6

Communication dans un congrès hal-03391298v1
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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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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

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
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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
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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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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 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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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 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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Classification of one family of 3R positioning Manipulators

Maher Baili , Philippe Wenger , Damien Chablat

The 11Th International Conference on Advanced Robotics, 2003, Coimbra, Portugal. pp.1-6

Communication dans un congrès hal-00145367v1
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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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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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Robots à Architecture Complexe : De la Conception à la Performance et l'Autonomie

Nicolas Andreff , Belhassen-Chedli Bouzgarrou , Etienne Dombre , Damien Chablat , Olivier Company et al.

ROBEA 2002 - 2es 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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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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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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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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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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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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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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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 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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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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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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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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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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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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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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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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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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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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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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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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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. ⟨10.1007/978-981-15-4477-4_54⟩

Chapitre d'ouvrage hal-03639735v1
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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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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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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 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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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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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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Preliminary survey of backdrivable linear actuators for humanoid robots

Philippe Bruno Lucidarme , Nicolas Delanoue , Franck Mercier , Yannick Aoustin , Christine Chevallereau et al.

Vigen Arakelian, Philippe Wenger. ROMANSY 22–Robot Design, Dynamics and Control Proceedings of the 22nd CISM IFToMM Symposium, June 25-28, 2018, Rennes, France, Springer, 2019, ROMANSY 22 – Robot Design, Dynamics and Control

Chapitre d'ouvrage hal-01984430v1
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Algebraic Analysis of a 3-RUU Parallel Manipulator

Thomas Stigger , Abhilash Nayak , Stéphane Caro , Philippe Wenger , Martin Pfurner et al.

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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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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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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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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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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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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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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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
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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