Damien Chablat

style vert vide
CNRS IRCCyN

Revues / Journal papers

  • Chablat D., Wenger P., “Séparation des solutions aux modèles géométriques direct et inverse pour les manipulateurs pleinement parallèles”, Mechanism and Machine Theory, Vol 36/6, pp. 763-783, 2001 (hal-00145142).
  • Chablat D. Angeles J. “On the Kinetostatic Optimization of Revolute-Coupled Planar Manipulators”, Mechanism and Machine Theory, Vol 37/4, pp. 351-374, 2002 (hal-00145154).
  • Wenger P., Gosselin C. et Chablat D., “A Comparative Study of Parallel Kinematic Architecture for Machining Applications”, Electronic Journal of Computational Kinematics, Vol. 1/1, May 2002.
  • Chablat D. et Wenger P., “Architecture Optimization of a 3-DOF Parallel Mechanism for Machining Applications, the Orthoglide”, IEEE Transactions On Robotics and Automation, Vol. 19/3, pp. 403-410, Juin, 2003 (hal-00168179).
  • Chablat D., Angeles, J., “The Computation of All 4R Serial Spherical Wrists With an Isotropic Architecture”, Journal of Mechanical Design, Vol 125/2, pp. 275-280, Juin 2003 (hal-00162644).
  • Chedmail P., Chablat D., Le Roy Ch., “A distributed Approach for Access and Visibility Task with a Manikin and a robot in a Virtual Reality Environment”, IEEE Transactions on Industrial Electronics, Vol 50 No 4, pp. 692-698, Août 2003 (hal-00583208).
  • Chablat D., Bennis F., Hoessler B. et Guibert M., “Périphériques haptiques et simulation d'objets, de robots et de mannequins dans un environnement de CAO-Robotique : eM-Virtual Desktop”, Mécanique et Industrie, Mars-Avril 2004 (hal-00145274).
  • Chablat D., Wenger P., Majou F. et Merlet J.P., “An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines”, International Journal of Robotics Research, pp. 615-624, Vol 23(6), juin 2004 (hal-00166631).
  • Wenger P., Chablat D. et Pashkevich A, “Geometric synthesis of orthoglide-type mechanisms”, Transactions of Belarusian Engineering Academy, No 1(17)/4, pp.69-72, 2004.
  • Baili M., Wenger P., Chablat D, “Kinematic Analysis of a Family of 3R manipulators”, Problems of Mechanics, Vol. 15, N°2, pp 27-32, juillet 2004 (hal-00162645).
  • Wenger P., Chablat D. et Baili M., “A DH-parameter based condition for 3R orthogonal manipulators to have 4 distinct inverse kinematic solutions”, Journal of Mechanical Design, Volume 127, pp. 150-155, Janvier 2005 (hal-00169594).
  • Pashkevich A., Wenger P. et Chablat D., “Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms”, Mechanism and Machine Theory, Volume 40, Issue 8, pp. 907-930, Août 2005 (hal-00168494).
  • Pashkevich A, Chablat D. et Wenger P., “Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide”, Robotica, Volume 24, Issue 1, pp. 39-49, Janvier 2006 (hal-00168340).
  • Caro S., Wenger P., Bennis F. et Chablat D., “Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic Machine”, ASME Journal of Mechanical Design, Vol. 128, pp. 392-402, Mars 2006 (hal-00169005).
  • Chablat, D. et Angeles J., “The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine”, ASME Journal of Mechanical Design, Juillet 2006 -- Volume 128, Issue 4, pp. 710-718 (hal-00144913).
  • Zein M., Wenger P. et Chablat D., “An Exhaustive Study of the Workspaces Tolopogies of all 3R Orthogonal Manipulators with Geometric Simplifications”, Mechanism and Machine Theory, Volume 41, Issue 8, Aout 2006, pp. 971-986 (hal-00168501).
  • Chablat D. et Angeles J., “Stratégies de conception pour optimiser la transmission Slide-o-cam”, Mécanique et Industrie, Vol. 7, pp. 301-309, 2006 (hal-00144857).
  • Majou F., Gosselin C., Wenger P. et Chablat D., “Parametric stiffness analysis of the Orthoglide”, Mechanism and Machine Theory, Volume 42(3), Mars 2007, pp. 296-311 (hal-00168332).
  • Kanaan D., Wenger P. et Chablat D., “Workspace Analysis of the Parallel Module of the VERNE Machine”, Problems of Mechanics, Vol 4(25), pp. 26-42, 2006 (hal-00160062).
  • Chablat D., Caro S., et Bouyer E., “The Optimization of a Novel Prismatic Drive”, Problems of Mechanics, No 1(26), pp. 32-42, 2007 (hal-00144820).
  • Wenger P., Chablat D. et Zein M., “Degeneracy study of the forward kinematics of planar 3-RPR parallel manipulators”, Journal of Mechanical Design, Décembre 2007 (hal-00162649).
  • Zein M., Wenger P et Chablat D., “Singular Curves in the Joint Space and Cusp Points of 3-RPR parallel manipulators”, Robotica, Vol. 25(6), pp. 717-724, Novembre 2007 (hal-00184991).
  • Zein M., Wenger P. et Chablat D., “Non-Singular Assembly-mode Changing Motions for 3-RPR Parallel Manipulators”, Mechanism and Machine Theory, Vol 43(4), pp 480-490, 2008 (hal-00261669).
  • Briot S, Bonev I, Chablat D, Wenger P et Arakelian V., “Self-Motions of General 3-RPR Planar Parallel Robots”, International Journal of Robotics Research, Vol 27(7), pp. 855-866, 2008 (hal-00310393).
  • Chablat D. et Staicu S., “Kinematics of A 3-PRP planar parallel robot”, UPB Scientific Bulletin, Series D: Mechanical Engineering, vol. 71(1), pp. 3-16, 2009 (hal-00372634).
  • Ma L., Chablat D., Bennis F. et Zhang W., “A New Simple Dynamic Muscle Fatigue Model and its Validation”, International Journal of Industrial Ergonomics, Vol. 39(1), Janvier 2009, pp. 211-220 (hal-00349573).
  • Kanaan D., Wenger P. et Chablat D., “Kinematic Analysis of a Serial – Parallel Machine Tool: the VERNE machine”, Mechanism and Machine Theory, Vol. 44(2), February 2009, pp. 487-498 (hal-00342928).
  • Pashkevich A, Chablat D. et Wenger P., “Stiffness Analysis of Overconstrained Parallel Manipulators”, Mechanism and Machine Theory, Vol. 44(5), May 2009, pp. 966-982 (hal-00372638).
  • Pashkevich A, Chablat D. et Wenger P., “Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg motions”, Mechatronics, Vol. 19(4), June 2009, pp. 478-488 (hal-00418777).
  • Pashkevich A, Klimchick A., Chablat D. et Wenger P., “Stiffness Analysis Of Multi-Chain Parallel Robotic Systems”, Journal of Automation, Mobile Robotics and Intelligent Systems, Vol. 3(3), 2009, pp. 75-82 (hal-00418768).
  • Ur-rehman R., Caro S., Chablat D., Wenger P., “Path placement optimization of manipulators based on energy consumption: application to the orthoglide 3-axis ”, Transactions of the Canadian Society for Mechanical Engineering, Vol. 33(3), 2009 (hal-00425337).
  • Kanaan D., Wenger P., Caro S., Chablat D., “Singularity Analysis of Lower-Mobility Parallel Manipulators Using Grassmann-Cayley Algebra”, IEEE Transactions on Robotics, Vol. 25 (5), pp. 995-1004, Octobre 2009 (hal-00425361).
  • Chablat D., Wenger P., Staicu, S., “Dynamics of the Orthoglide parallel robot”, UPB Scientific Bulletin, Series D: Mechanical Engineering, Vol. 71 (3), pp. 3-16, 2009 (hal-00425143).
  • Ma L., Zhang W, Bennis F, Chablat D, Guillaume F, “Multi-Objective Optimisation Method for Posture Prediction and Analysis with Consideration of Fatigue Effect and its Application Case”, Computers & Industrial Engineering, Vol. 57(4), pp. 1235-1246, Novembre 2009 (hal-00430645).
  • Ma L., Zhang W., Fu H., Guo Y., Chablat D., Bennis F., Sawanoi A., Fugiwara N., “A framework for interactive work design based on motion tracking, simulation, and analysis”, Human Factors and Ergonomics in Manufacturing & Service Industries, Vol. 20(4), pp. 339-352, July/August 2010, DOI: 10.1002/hfm.20178 (hal-00495004).
  • Ur-rehman R., Caro S., Chablat D., Wenger P., “Multiobjective Path Placement Optimization of Parallel Kinematics Machines Based on Energy Consumption, Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide”, Mechanism and Machine Theory, Vol. 45 (8), pp. 1125-1141, August 2010 (hal-00495299).
  • Ma L., Chablat D., Bennis F., Zhang W., Hu B., Guillaume F., “Fatigue evaluation in maintenance and assembly operations by digital human simulation in virtual environment”, Virtual Reality, Springer London, Vol. 14 (1), pp. 339-352, Mars 2010, DOI: 10.1007/s10055-010-0156-8 (hal-00495263).
  • Ma L., Chablat D., Bennis F., Zhang W., Hu B., Guillaume F., “A new muscle fatigue and recovery model and its ergonomics application in human simulation”, Virtual and Physical Prototyping, Vol. 5(3), September 2010, pp. 123 - 137 (hal-00530230).
  • Moroz G., Rouillier F., Chablat D., Wenger P., “On the determination of cusp points of 3-RPR parallel manipulators”, Mechanism and Machine Theory, Vol. 45 (11), November 2010, doi:10.1016/j.mechmachtheory.2010.06.016 (hal-00545502).
  • Ma L., Chablat D., Bennis F., Zhang W., Hu B., Guillaume F., “A novel approach for determining fatigue resistances of different muscle groups in static cases”, International Journal of Industrial Ergonomics, Vol. 41(1), January 2011, pp. 10-18, doi:10.1016/j.ergon.2010.11.005 ().
  • Pashkevich A, Klimchick A., Chablat D., “Enhanced stiffness modeling of manipulators with passive joints”, Mechanism and Machine Theory, Vol. 46(5), pp. 662–679, 2011, doi:10.1016/j.mechmachtheory.2010.12.008 (hal-00583167).
  • Hu B., Ma L., Zhang W., Salvendy G., Chablat D., Bennis F., “Predicting real-world ergonomic measurements by simulation in a virtual environment”, International Journal of Industrial Ergonomics, Vol. 41(1), January 2011, pp. 64-71, doi:10.1016/j.ergon.2010.10.001.

Brevets / Patents

  • D. Chablat et P. Wenger, “Dispositif de déplacement et d'orientation d'un objet dans l'espace et utilisation en usinage rapide”, Déposant: Centre National de la Recherche Scientifique CNRS/Ecole Centrale de Nantes. Mandataire : Cabinet LAVOIX, Brevet français : FR2850599 (5 février 2003) (hal-00186783),
  • Brevet Européen: EP1597017 ( 23 Novembre 2005),
  • Demande PCT: WO2004071705 (26 Août 2004),
  • D. Chablat et P. Wenger, “Device for the movement and orientation of an object in space and use thereof in rapid machining”, Déposant: Centre National de la Recherche Scientifique CNRS/Ecole Centrale de Nantes, Brevet Canadien: CA2515024 (26 Août 2004),
  • D. Chablat et P. Wenger, “Device for the movement and orientation of an object in space and use thereof in rapid machining”, Déposant: Centre National de la Recherche Scientifique CNRS/Ecole Centrale de Nantes. Mandataire : Cabinet LAVOIX,Brevet Américain: US 20070062321 (22 mars 2007).
  • L. Ma, D. Chablat, F. Bennis, F. Guillaume, "Procédé de détermination quantitative de fatigue musculaire induite par une activité", demande de Brevet français et européen FR2936642 et WO2010037686.