D. Chablat | Centre National de la Recherche Scientifique / French National Centre for Scientific Research (original) (raw)

Uploads

Parallel robots papers by D. Chablat

Research paper thumbnail of An Interval Analysis Based Study for the Design and the Comparison of Three-Degrees-of-Freedom Parallel Kinematic Machines

Abstract This paper addresses an interval analysis based study that is applied to the design and ... more Abstract This paper addresses an interval analysis based study that is applied to the design and the comparison of three-degrees-of-freedom (3-DoF) parallel kinematic machines. Two design criteria are used:(i) a regular workspace shape and (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace.

Papers by D. Chablat

Research paper thumbnail of NAVARO II, a Novel Scissor-Based Planar Parallel Robot1

Journal of Mechanisms and Robotics, 2019

This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This ... more This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanism is an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the three legs is replaced by a scissor to obtain a larger working space and avoid the use of parallelograms to operate the second revolute joint. To obtain better spatial rigidity, the leg mechanism is constructed by placing the scissors in an orthogonal plane to the plane of the manipulator displacement (3-RRR or even the 3-RPR). This geometric property brings the significant consequence of allowing the scissors to directly substitute the prismatic chains in the 3-RPR and enjoy the same kinematics advantages for the overall robots as only one solution to the inverse kinematic model. From the Jacobian expression, surfaces of singularity can be calculated and presented in a compact form. The singularity equations are presented for a robot with a similar base and mobile platform. ...

Research paper thumbnail of Analysis of Mechanisms

Research paper thumbnail of Robot anguille sous-marin en 3D

Éco-conception et innovation responsable, 2015

Research paper thumbnail of Optimal Design of the Three-Degree-of-Freedom Parallel Manipulator in a Spray-Painting Equipment

Robotica, 2019

SUMMARYSpray-painting equipments are important for the automatic spraying of long conical objects... more SUMMARYSpray-painting equipments are important for the automatic spraying of long conical objects such as rocket fairing. This paper proposes a spray-painting equipment that consists of a feed worktable, a gantry frame and two serial–parallel mechanisms and investigates the optimal design of PRR–PRR parallel manipulator in serial–parallel mechanisms. Based on the kinematic model of the parallel manipulator, the conditioning performance, workspace and accuracy performance indices are defined. The dynamic model is derived using virtual work principle and dynamic evaluation index is defined. The conditioning performance, workspace, accuracy performance and dynamic performance are involved in multi-objective optimization design to determine the optimal geometrical parameters of the parallel manipulator. Furthermore, the geometrical parameters of the gantry frame are optimized. An example is given to show how to determine these parameters by taking a long object with conical surface as p...

Research paper thumbnail of Site's languages

Research paper thumbnail of On Isotropic Sets of Points in the Plane. Application to the Design of Robot Architectures

Research paper thumbnail of Kinematic analysis of the vertebra of an eel like robot

Proceedings of the ASME Design Engineering Technical Conference, 2008

Research paper thumbnail of A framework of motion capture system based human behaviours simulation for ergonomic analysis

Communications in Computer and Information Science, 2011

Research paper thumbnail of Predicting real-world ergonomic measurements by simulation in a virtual environment

International Journal of Industrial Ergonomics, 2011

Research paper thumbnail of Realistic Rendering of Kinetostatic Indices of Mechanisms

Research paper thumbnail of Analysis of Mechanisms

Research paper thumbnail of Sébastien Briot

... Philippe Wenger Institut de Recherche en Communications et Cybernétique de Nantes 1, rue la N... more ... Philippe Wenger Institut de Recherche en Communications et Cybernétique de Nantes 1, rue la Noë – BP 92101 44321, Nantes Cedex 3, France Self-Motions of General 3-RPR Planar Parallel Robots Abstract We study ...

Research paper thumbnail of Multi-objective optimisation method for posture prediction and analysis with consideration of fatigue effect and its application case

Computers & Industrial Engineering, 2009

Research paper thumbnail of A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

arXiv (Cornell University), Jun 6, 2011

Research paper thumbnail of Definition sets for the direct kinematics of parallel manipulators

1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97

Research paper thumbnail of Multiobjective Design Optimization of 3–PRR Planar Parallel Manipulators

Global Product Development, 2011

Research paper thumbnail of Enhanced stiffness modeling of serial manipulators with passive joints

Advances in Robot Manipulators, 2010

Research paper thumbnail of A classification of 3R orthogonal manipulators by the topology of their workspace

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

Research paper thumbnail of Working and assembly modes of the agile eye

Proceedings - IEEE International Conference on Robotics and Automation, 2006

Research paper thumbnail of An Interval Analysis Based Study for the Design and the Comparison of Three-Degrees-of-Freedom Parallel Kinematic Machines

Abstract This paper addresses an interval analysis based study that is applied to the design and ... more Abstract This paper addresses an interval analysis based study that is applied to the design and the comparison of three-degrees-of-freedom (3-DoF) parallel kinematic machines. Two design criteria are used:(i) a regular workspace shape and (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace.

Research paper thumbnail of NAVARO II, a Novel Scissor-Based Planar Parallel Robot1

Journal of Mechanisms and Robotics, 2019

This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This ... more This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanism is an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the three legs is replaced by a scissor to obtain a larger working space and avoid the use of parallelograms to operate the second revolute joint. To obtain better spatial rigidity, the leg mechanism is constructed by placing the scissors in an orthogonal plane to the plane of the manipulator displacement (3-RRR or even the 3-RPR). This geometric property brings the significant consequence of allowing the scissors to directly substitute the prismatic chains in the 3-RPR and enjoy the same kinematics advantages for the overall robots as only one solution to the inverse kinematic model. From the Jacobian expression, surfaces of singularity can be calculated and presented in a compact form. The singularity equations are presented for a robot with a similar base and mobile platform. ...

Research paper thumbnail of Analysis of Mechanisms

Research paper thumbnail of Robot anguille sous-marin en 3D

Éco-conception et innovation responsable, 2015

Research paper thumbnail of Optimal Design of the Three-Degree-of-Freedom Parallel Manipulator in a Spray-Painting Equipment

Robotica, 2019

SUMMARYSpray-painting equipments are important for the automatic spraying of long conical objects... more SUMMARYSpray-painting equipments are important for the automatic spraying of long conical objects such as rocket fairing. This paper proposes a spray-painting equipment that consists of a feed worktable, a gantry frame and two serial–parallel mechanisms and investigates the optimal design of PRR–PRR parallel manipulator in serial–parallel mechanisms. Based on the kinematic model of the parallel manipulator, the conditioning performance, workspace and accuracy performance indices are defined. The dynamic model is derived using virtual work principle and dynamic evaluation index is defined. The conditioning performance, workspace, accuracy performance and dynamic performance are involved in multi-objective optimization design to determine the optimal geometrical parameters of the parallel manipulator. Furthermore, the geometrical parameters of the gantry frame are optimized. An example is given to show how to determine these parameters by taking a long object with conical surface as p...

Research paper thumbnail of Site's languages

Research paper thumbnail of On Isotropic Sets of Points in the Plane. Application to the Design of Robot Architectures

Research paper thumbnail of Kinematic analysis of the vertebra of an eel like robot

Proceedings of the ASME Design Engineering Technical Conference, 2008

Research paper thumbnail of A framework of motion capture system based human behaviours simulation for ergonomic analysis

Communications in Computer and Information Science, 2011

Research paper thumbnail of Predicting real-world ergonomic measurements by simulation in a virtual environment

International Journal of Industrial Ergonomics, 2011

Research paper thumbnail of Realistic Rendering of Kinetostatic Indices of Mechanisms

Research paper thumbnail of Analysis of Mechanisms

Research paper thumbnail of Sébastien Briot

... Philippe Wenger Institut de Recherche en Communications et Cybernétique de Nantes 1, rue la N... more ... Philippe Wenger Institut de Recherche en Communications et Cybernétique de Nantes 1, rue la Noë – BP 92101 44321, Nantes Cedex 3, France Self-Motions of General 3-RPR Planar Parallel Robots Abstract We study ...

Research paper thumbnail of Multi-objective optimisation method for posture prediction and analysis with consideration of fatigue effect and its application case

Computers & Industrial Engineering, 2009

Research paper thumbnail of A study of the singularity locus in the joint space of planar parallel manipulators: special focus on cusps and nodes

arXiv (Cornell University), Jun 6, 2011

Research paper thumbnail of Definition sets for the direct kinematics of parallel manipulators

1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97

Research paper thumbnail of Multiobjective Design Optimization of 3–PRR Planar Parallel Manipulators

Global Product Development, 2011

Research paper thumbnail of Enhanced stiffness modeling of serial manipulators with passive joints

Advances in Robot Manipulators, 2010

Research paper thumbnail of A classification of 3R orthogonal manipulators by the topology of their workspace

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

Research paper thumbnail of Working and assembly modes of the agile eye

Proceedings - IEEE International Conference on Robotics and Automation, 2006

Research paper thumbnail of The multiobjective optimization of a prismatic drive

2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007, 2008

Log In