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.
Papers
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Changing Assembly Modes without Passing Parallel Singularities in Non-Cuspidal 3-R\underline{P}R Planar Parallel Robots
TL;DR: It is demonstrated that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities ( configuration where the mobile platform loses its stiffness).
La parcourabilité pour les manipulateurs pleinement parallèles
Damien Chablat,Philippe Wenger +1 more
TL;DR: In this article, the authors define the n-connected regions in the Cartesian workspace of fully-parallel manipulators, i.e., the maximal regions where it is possible to execute point-to-point motions.
Posted Content
The Design of Parallel Kinematic Machine Tools Using Kinetostatic Performance Criteria
TL;DR: In this paper, the authors proposed a parallel kinematic machine tool (PKMT) based on the Jacobian matrix of the mechanism and applied it to the design of a small-scale machine tool.
Proceedings Article
Calibration of quasi-isotropic parallel kinematic machines: orthoglide
TL;DR: In this article, the authors propose an approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands.
Posted Content
Design optimization of parallel manipulators for high-speed precision machining applications
TL;DR: An integrated approach to the design optimization of parallel manipulators is proposed, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization.