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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Journal Article
A Workspace based Classification of 3R Orthogonal Manipulators
TL;DR: A classification of a family of 3-revolute (3R) positioning manipulators is established, based on the topology of their workspace, which is shown to be partitioned into nine subspaces of distinct workspace topologies.
Posted Content
Performance evaluation of parallel manipulators for milling application
TL;DR: This chapter focuses on the performance evaluation of the parallel manipulators for milling of composite materials and the most significant performance measurements, which denote the ability of the manipulator for the machining are defined.
Book ChapterDOI
Shaking Force Balancing of the Orthoglide
TL;DR: The suggested solution based on the optimal acceleration control of the manipulator's common center of mass allows a significant reduction of the shaking force, compared with the balancing method via adding counterweights or auxiliary substructures.
Posted Content
The Kinematic design of a 3-dof Hybrid Manipulator
TL;DR: In this paper, a three-degree-of-freedom hybrid manipulator with serial and parallel links is presented, which is obtained by adding in series to a five-bar mechanism a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage.
Kinematic analysis of the 3-rpr parallel manipulator
TL;DR: In this article, the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated is presented, and the di-rect and inverse kinematics problem as well as the singular configuration is characterized.