D
Damien Chablat
Researcher at Centre national de la recherche scientifique
Publications - 452
Citations - 6705
Damien Chablat is an academic researcher from Centre national de la recherche scientifique. The author has contributed to research in topics: Parallel manipulator & Kinematics. The author has an hindex of 37, co-authored 427 publications receiving 6008 citations. Previous affiliations of Damien Chablat include Institut de Recherche en Communications et Cybernétique de Nantes & French Institute for Research in Computer Science and Automation.
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Proceedings ArticleDOI
A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints *
Benjamin Fasquelle,Matthieu Furet,Parag Khanna,Damien Chablat,Christine Chevallereau,Philippe Wenger +5 more
TL;DR: A new kind of light-weight manipulators suitable for safe interactions inspired by the musculosleketon architecture of the bird neck that is known to have remarkable features such as a high dexterity and lower inertia is proposed.
Journal ArticleDOI
Workspace analysis in the design parameter space of a 2-DOF spherical parallel mechanism for a prescribed workspace: Application to the otologic surgery
TL;DR: To design a robot with a prescribed regular workspace shape to handle an endoscope to assist the Otologic surgery, a spherical parallel mechanism with two degrees of freedom is analysed in its design parameter space.
Journal ArticleDOI
An Optimal Design of a Flexible Piping Inspection Robot
TL;DR: Three cascading optimization problems are presented to determine the sizing of robot assembly that can overcome pipe bends and the optimum design parameters of the robot modules are determined for the robot assembly without the presence of leg mechanisms.
Accuracy Improvement for Stiffness Modeling of Parallel Manipulators
TL;DR: Detailed accuracy analysis of the stiffness identification procedures employed in the commercial CAD systems are presented (including statistical analysis of round-off errors, evaluating the confidence intervals for stiffness matrices).
Posted Content
Solution regions in the parameter space of a 3-RRR decoupled robot for a prescribed workspace
TL;DR: This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-free workspace of regular shape.