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Philippe Wenger
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Journal Articles

A Review of Cuspidal Serial and Parallel Manipulators

Philippe Wenger, Damien Chablat
Journal: Journal of Mechanisms and Robotics
Article Type: Review Articles
J. Mechanisms Robotics. August 2023, 15(4): 040801.
Paper No: JMR-22-1211
DOI: https://doi.org/10.1115/1.4055677
Published Online: November 15, 2022
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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
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011005.
Paper No: JMR-21-1108
DOI: https://doi.org/10.1115/1.4051521
Published Online: July 6, 2021
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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
Paper No: DETC99/DAC-8645
DOI: https://doi.org/10.1115/DETC99/DAC-8645
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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
Paper No: DETC2019-97544
DOI: https://doi.org/10.1115/DETC2019-97544
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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
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060904.
Paper No: JMR-19-1083
DOI: https://doi.org/10.1115/1.4044209
Published Online: September 10, 2019
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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
Paper No: DETC2015-47935
DOI: https://doi.org/10.1115/DETC2015-47935
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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
Article Type: Research-Article
J. Comput. Nonlinear Dynam. March 2015, 10(2): 021004.
Paper No: CND-13-1194
DOI: https://doi.org/10.1115/1.4028573
Published Online: March 1, 2015
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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
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011008.
Paper No: JMR-14-1262
DOI: https://doi.org/10.1115/1.4029305
Published Online: February 1, 2015
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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
Paper No: DETC2014-35488
DOI: https://doi.org/10.1115/DETC2014-35488
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Topics: Kinematic analysis, Manipulators, Reactor protection systems, Kinematics, Algebra, Design, Jacobian matrices
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
Paper No: DETC2013-13037
DOI: https://doi.org/10.1115/DETC2013-13037
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Topics: Design, Trajectories (Physics), Optimization, Manipulators, Cascades (Fluid dynamics), Cycles, Degrees of freedom, Engineering prototypes, Kinematics
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
Paper No: DETC2013-13084
DOI: https://doi.org/10.1115/DETC2013-13084
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Topics: Conceptual design, Generators, Manipulators, Manufacturing, Architecture, Geometry, Kinematics, Screws
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
Paper No: DETC2012-70662
DOI: https://doi.org/10.1115/DETC2012-70662
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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
Paper No: ESDA2012-82208
DOI: https://doi.org/10.1115/ESDA2012-82208
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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
Article Type: Research Papers
J. Mechanisms Robotics. November 2012, 4(4): 041003.
DOI: https://doi.org/10.1115/1.4006921
Published Online: August 10, 2012
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Topics: Algebra, Algorithms, Computation, Computer-aided design, Manipulators, Polynomials
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
Paper No: DETC2011-47564
DOI: https://doi.org/10.1115/DETC2011-47564
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Topics: Robots, Kinematic chains, Stiffness
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
Paper No: DETC2011-48226
DOI: https://doi.org/10.1115/DETC2011-48226
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Topics: Algebra, Geometry, Manipulators, Jacobian matrices, Rotation
Journal Articles

Singularity Conditions of 3T1R Parallel Manipulators With Identical Limb Structures

Semaan Amine, Mehdi Tale Masouleh, Stéphane Caro, Philippe Wenger, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2012, 4(1): 011011.
DOI: https://doi.org/10.1115/1.4005336
Published Online: February 3, 2012
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Topics: Algebra, Architecture, Geometry, Jacobian matrices, Manipulators, Screws, Rotation, Mechanical admittance, Robots
Proceedings Papers

Comparison of Planar Parallel Manipulator Architectures Based on a Multi-Objective Design Optimization Approach

Damien Chablat, Ste´phane Caro, Raza Ur-Rehman, Philippe Wenger
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 861-870, August 15–18, 2010
Paper No: DETC2010-28650
DOI: https://doi.org/10.1115/DETC2010-28650
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Topics: Architecture, Design, Manipulators, Optimization, Genetic algorithms, Stiffness
Proceedings Papers

Constraint and Singularity Analysis of Lower-Mobility Parallel Manipulators With Parallelogram Joints

Semaan Amine, Daniel Kanaan, Ste´phane Caro, Philippe Wenger
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1317-1326, August 15–18, 2010
Paper No: DETC2010-28483
DOI: https://doi.org/10.1115/DETC2010-28483
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Topics: Manipulators, Mechanical admittance, Robots, Algebra, Screws
Proceedings Papers

The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances

Nicolas Binaud, Philippe Cardou, Ste´phane Caro, Philippe Wenger
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1371-1380, August 15–18, 2010
Paper No: DETC2010-28635
DOI: https://doi.org/10.1115/DETC2010-28635
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Topics: Kinematics, Manipulators, Errors, Clearances (Engineering)