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WELCOME TO THE HOME PAGES OF
PHILIPPE WENGER Directeur de
recherche CNRS |
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Education
o Engineer
in mechanics and informatics, Ecole Centrale de Nantes, 1985
o Master in Robotics, Ecole Centrale de Nantes, 1985
o Ph.D. thesis in Robotics, Laboratoire d'Automatique de Nantes, 1989
(National Award from AFCET and CNRS for the best thesis of the year in Robotics
and Automation, 1990)
o HDR (Habilitation à Diriger les Recherches) in Mechanical Engineering,
IRCCyN, 1998
o Professor qualification in Mechanical Engineering and in Automatics, 2000
Current
position, appointments, memberships
o Research
Director at Centre National de la Recherche Scientifique (CNRS), Institut de Recherche en
Communication et Cybernétique de Nantes (IRCCyN), France
o Head of the Robotics team of IRCCyN
o Professor at Ecole Centrale de Nantes (ECN) and Ecole Supérieure d’Electricité (Supélec)
o Chair of the Working Group “Mechatronic and Innovative Design” of
the GDR
Robotique
o Associate Editor, Mechanism and Machine Theory http://www.journals.elsevier.com/mechanism-and-machine-theory/#description)
o Associate Editor, ASME J. of Mechanisms and Robotics (http://journaltool.asme.org/Content/EditorsAssociateEditors.cfm)
o Deputy Chair, IFToMM Technical Committee for Computational Kinematics
Research
interests
o Design and analysis of serial and
parallel manipulators
o Robust design of mechanisms
o Trajectory optimization
o CAD-Robotics
o Layout optimization problems
Current
Ph.D. students
o Coralie Germain : Design of a new
pick-and-place parallel manipulator (2010-2013). Cosupervised with S. Briot and
o Latifah Nurahmi : Kinematic analysis and
design of lower-mobility parallel manipulators (2012-2015). Cosupervised with
o Lorenzo Gagliardini : Study of a cable robot
for the assembly of offshore wind turbines (2013-2016). Cosupervised with
Past Ph.D. students
-
Seeman Amine : Lower-mobility parallel manipulators: geometrical analysis,
singularities and conceptual design, Gratuated in 2011. Present position :
assistant professor in Lebannon
- Nicolas Binaud : Robust design of parallel
mechanisms. Graduated in 2010. Present position : associate professor at
Université Paul Sabatier,
- Guillaume Jacquenot : Layout optimization
problems. Graduated in 2010. Present position : research engineer at SIREHNA,
- Raza Ur-Rehman : Multi-objective design
of parallel manipulators. Graduated in
2009. Present position : research engineer in
- Daniel Kanaan : Kinematic and Dynamic
analysis of parallel kinematic machines. Graduated in 2008. Present position :
research engineer at AREVA,
- Mazen Zein : Singularity analysis of parallel
manipulators. Graduated in 2007. Present position : project manager in
- Ofelia-Guillermina
Alba-Gomez : Trajectory Optimization of redundant parallel manipulators. Graduated in 2007. Present
positon: research engineer,
- Maher Baili : Kinematic analysis of 3R
manipulators. Graduated in december 2004. Present position : associate prof. in
-
- Félix Majou : Design of parallel kinematic machines. Graduated in september
2004. Present position : engineer in
- Damien Chablat : Uniqueness domains and
moveability of parallel manipulators. Gratuated in 1998. Present
position : CNRS research scientist at IRCCyN
- Jaouad El Omri : Kinematic analysis of
regional manipulators, graduated in 1996. Present position : engineer in
Marocco
- Hervé Thomas : Graduated in 1995. Present
position : professor at Ecole Centrale de Nantes
- Fabienne Reynier : Geometric synthesis of
robotic sites, Graduated in 1992. Present position : engineer in
Teaching
o Optimal
Kinematic Design of Robots (Master of Science II, Erasmus Mundus EMARO (http://emaro.irccyn.ec-nantes.fr/)
o Kinematics of Parallel Mechanisms (Ecole Centrale de Nantes)
o Mechanics and Robotics (Ecole Supérieure d’Electricité)
o Design of Robotic sites (Ecole Centrale de Nantes)
Patents:
D. Chablat
and P. Wenger, “Device for the movement and orientation of an object
in space and use thereof in rapid machining”, CNRS/Ecole Centrale de Nantes.
European patent EP1597017 ( 23 November 2005), US patent: US
10/544464 (27 May 2011)
Books, book
chapters
- Lenarcic J., Wenger
P. (Ed) : "Advances in Robot Kinematics: analysis and design",
Springer, 2008, ISBN-13: 978-1-4020-8599-4, 472 pages.
- Wenger P :
"Performance Analysis of Robots", chapter (48 pages) in « Robot
manipulators : modelling, performances analysis and control» Ed. Wiley-ISTE,
2007.
- S. Caro, D.
Chablat, R. Ur-Rehman, P. Wenger, “Multiobjective Design Optimization of
3–PRR Planar Parallel Manipulators”, Global Product Development,
DOI 10.1007/978-3-642-15973-2_37, © Springer-Verlag Berlin Heidelberg, 2011.
- Pashkevich A.,
Chablat D., Wenger P., R. Gomolitsky, “Calibration of 3-d.o.f.
Translational Parallel Manipulators Using Leg Observations”. I-Tech
Education and Publishing, Chapitre:11. Pages 225-240.
- Wenger P. :
"Performance Analysis of Robots", in « Robot manipulators :
modelling, performances analysis and control» Ed. Wiley-ISTE, 2007.
- Pashkevich A.,
Chablat D. et Wenger Ph., “Kinematic calibration of orthoglide-type
mechanisms”, Information Control Problems in Manufacturing 2006,
Elsevier, série IFAC Proc, pp. 149-154, décembre 2006.
- Chablat D.,
Wenger Ph., Angeles J., “ Isotropic design of parallel mechanisms,
application to machining ”, in Integrated Design and Manufacturing
in Mechanical Engineering, Kluwer Academic Publisher, 2002.
- Chablat D.,
Wenger Ph., Angeles J., “ The Kinematic Design of a 3-DOF Hybrid
Manipulator ”, in Integrated Design and Manufacturing in Mechanical
Engineering, Kluwer Academic Publisher, 1999.
- Chedmail P., Dombre E., Wenger Ph. : "La CAO en
Robotique : outils et méthodologies", Hermès, June 1998, 380 pages.
- Wenger Ph. :
"Design of Robotic Workcells : synthesis and application", in
Integrated Design and Manufacturing in Mechanical Engineering, Kluwer Academic
Publisher, 1997;
- Reynier F.,
Wenger Ph., Chedmail P. : "On the feasibility of collision-free
trajectories for redundant robots" in Advances in Factories of the future,
CIM and Robotics, pp 397-406, Elsevier Science, 1993.
Peer
reviewed journal papers:
-
Germain, C., Caro, S.,
Briot, S., Wenger, P., 2013, “Singularity-free Design of the
Translational Parallel Manipulator IRSBot-
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M. Husty, J.
Schadlbauer,
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Manubens M., Moroz G.,
Chablat D., Wenger P, Rouiller F.,“ Cusp Points in the Parameter Space of
Degenerate 3-RPR Planar Parallel Manipulators”, ASME J. of Mechanisms and
Robotics, Vol. 4(4), November, 2012.
-
Amine S., Masouleh M.,
Caro S., Wenger P, C. Gosselin, “Singularity conditions of 3T1R parallel
manipulators with identical limb structures”, ASME J. of Mechanisms and Robotics, in press.
-
Amine S. Caro S.,
Wenger, P. Kanaan D., “Singularity analysis of the H4 robot using
Grassmann-Cayley algebra”, Robotica,
Vol 30 (7), December 2012.
-
Binaud N., Caro S.,
Wenger P, “Comparison of 3-RPR planar parallel manipulators with regard
to their kinetostatic performance and sensitivity to geometric
uncertainties”, Mecanica, Vol. 46 (1), February 2011, pp 75-88.
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Binaud N., Caro S.,
Wenger P, “Sensitivity comparison of planar manipulators”, Mechanism and Machine Theory, Vol. 45 (11), November 2010, pp 1477-1490.
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Moroz G., Rouiller 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.
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Ur-Rehman, R., Caro, S.,
Chablat, D., Wenger P, 2010, “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), August 2010, pp. 1125-1141.
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Caro S., Binaud N.,
Wenger P: "Sensitivity Analysis of 3-RPR Planar Parallel
Manipulators," ASME Journal of
Mechanical Design Vol.131(12), december 2009.
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Ur-Rehman R., Caro S., Chablat D. et Wenger
P : “Path placement
optimization of manipulators based on energy consumption: application to the
orthoglide 3-axis”, Trans. Can.
Soc. Mech. Eng, Vol.33(3), pp. 523–541.
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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, October 2009.
-
Pashkevich A., Klimchik
A, Chablat D., Wenger P : “Stiffness
analysis of multi-chain robotic systems with loading”. J.
of Aut.,
-
Pashkevich A., Chablat
D., Wenger P, “Kinematic calibration of Orthoglide-type mechanisms from
observation of parallel leg motions”, IFAC
Mechatronics, vol. 19,(4).pp.
478-488. Juin 2009.
-
Chablat D., Wenger P,
Staicu, S., “Dynamics of the Orthoglide parallel robot”, UPB
Scientific Bulletin, Series D: Mechanical Engineering, Volume 71 (3), pp. 3-16,
2009.
-
Pashkevich A., Chablat
D., Wenger P : “Stiffness
analysis of overconstrained parallel manipulators”. Mechanism and Machine Theory, Vol.
44(5), Mai 2009, pp. 966-982.
- Kanaan D., Wenger P, Chablat D., “Kinematic Analysis of a Serial -
Parallel Machine Tool: the VERNE machine”, Mechanism and Machine Theory, Vol. 44(2), Février 2009, pp.
487-498.
- Briot S., Bonev I., Chablat D., Wenger P et Vigen Arakelian :
“Self motions of general 3-RPR parallel robots”, International Journal of Robotics Research,
Vol. 27, No. 7, pp. 855-866, mai 2008.
- Zein M., Wenger P., D. Chablat : “Non-Singular
Assembly-mode Changing Motions for 3-RPR Parallel Manipulators”. Mechanism and Machine Theory, Volume
43(4) pp. 391-524, Avril 2008.
- Zein M., Wenger P., D. Chablat : “ Singular Curves in the Joint Space and
Cusp Points of 3-RPR parallel manipulators ”. Special issue of
Robotica on Geometry in Robotics and Sensing, Volume 25(6), pp.717-724,
2007.
- Wenger P : “Cuspidal
and noncuspidal robot manipulators”. Special issue of Robotica on
Geometry in Robotics and Sensing, Volume 25(6), pp.677-690, 2007.
- Majou F., Gosselin C.,
Wenger P, Chablat D.: “Parametric
stiffness analysis of the Orthoglide”. Mechanism and Machine Theory, Volume 42(3), pp. 296-311, mars 2007.
- Wenger P, D. Chablat, Zein M.: “Degeneracy
study of the forward kinematics of planar 3-RPR parallel
manipulators”. ASME J. of Mechanical Design, Vol 129(12), pp
1265-1268, december 2007.
- Zein M., Wenger P., Chablat D. : “An
Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators
with Geometric Simplifications”. Mechanism
and Machine Theory, 2006, Volume 41(8), pp. 971-986, August 2006.
- Kanaan D., Wenger P, Chablat D. : “Workspace Analysis of the Parallel
Module of the VERNE Machine”. Problems of Mechanics, Vol. 25, N°4,
pp 26-42, 2006.
- Caro S., Wenger P, Bennis F. “Robustness Study of Generic and Non-Generic 3R Positioning
Manipulators”, Problems of Mechanics, Vol. 22, N°1, pp 9-23,
janvier 2006.
- Alba-Gomez O., Wenger
P, Pamanes A. “Performance
Indices For Kinematically Redundant Parallel Planar Manipulators”, Problems
of Mechanics, Vol. 22, N°1, pp 22-40, janvier 2006.
- Caro S. Wenger P, Bennis F., Chablat D. “Sensitivity Analysis of the Orthoglide, a 3-DOF
Translational Parallel Kinematic Machine”, ASME Journal of Mechanical
Design, Vol. 128 (3), 2006.
-
Innocenti
C., Wenger P :
“Position Analysis of the RRP-3(SS) Multi-Loop Spatial
Structure”, ASME Journal of Mechanical Design, Vol. 128 (1), pp
272-278, 2006.
-
Pashkevich A., Chablat
D et Wenger P, “Kinematics and Workspace Analysis of a three-Axis Parallel
Manipulator : the Orthoglide”, Robotica, Vol. 24 (1), pp 39-49, 2006.
-
Wenger P., Chablat D, Baili
M., “A DH parameter based condition for 3R orthogonal manipulators to
have four distinct inverse kinematic solutions”, ASME Journal of Mechanical
design, Vol. 127(1), pp 150-155, janvier 2005.
-
Caro S., Bennis F.,
Wenger P., “Tolerance Synthesis of Mechanisms: a Robust Design
Approach”, ASME Journal of Mechanical Design, Vol. 127(1), pp
86-94, janvier 2005.
-
Pashkevich A., Wenger
P et Chablat D, “Design Strategies for the Geometric Synthesis of
Orthoglide-type Mechanisms”, Mechanism
and Machine Theory, Volume 40(8), pp. 907-930, Août 2005.
-
Wenger P, Chablat D., Pashkevich A.
“Geometric synthesis of
orthoglide-type mechanisms”. Transactions of
-
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.
-
Wenger P., “Curve
Following for Redundant manipulators with Obstacles : Feasibility Analysis and
Solutions”, Problems of Mechanics, Vol. 15, N°2, pp 17-26, juillet
2004.
-
Wenger P.,
“Uniqueness domains and regions of feasible paths for cuspidal
manipulators », IEEE Transactions on Robotics, Vol. 20(4), pp.
745-750, août 2004.
-
Chablat D, Wenger P., Majou F., 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,
Vol. 23 (6), pp 615-624, June 2004.
-
Chablat D., 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, June 2003.
-
Wenger P, Gosselin C.,
Chablat D, « A Comparative Study of Parallel Kinematic Architecture for
Machining Applications », Electronic Journal of Computational
Kinematics, 2002.
-
Chablat D., Wenger P.,
“Separations of solutions to the direct and the inverse geometric models
for fully parallel manipulators”, Mechanism and Machine Theory,
vol. 36 (6), pp 763-783, 2001.
-
Wenger P. : "Some
guidelines for the kinematic design of new Manipulators", Mechanisms
and Machine Theory, Vol 35(3), pp 437-449, Décembre 1999.
-
Wenger P. :
"Classification of 3R Positioning Manipulators", ASME Journal of
Mechanical Design, vol 120(2), pp 327-332, 1998.
- Wenger P., El Omri J. :
"Comments on a classification of 3-R manipulators singularities and geometries",
Mechanism and Machine Theory, Vol.32, No 4, pp 529-532, avril 1997.
-Thomas H., Wenger P.:
“Planification des trajectoires d'une flotte de chariots mobiles”, Revue
d'Automatique et de Productique Appliquée (RAPA), Hermès, vol 7, n° 5, pp.
563-570, 1994.
- Wenger P. : "Kinematic
analysis of manipulators with general geometry : generalization of the
aspects". Transactions of the C.S.M.E, Vol. 17, n° 4, pp. 493-511,
december 1993.
- Wenger P., Chedmail P. :
"Manipulator free-workspace : a new approach for robotic CAD
systems", Int J. of Systems Automation : Research and Application,
Vol. 2, N°2, pp 167-183, 1992.
- Wenger P., Chedmail P.
: "On the connectivity of manipulator free-workspace", Journal of
Robotic Systems, Vol. 8(6), pp 767-799, december 1991.
- Wenger P., Chedmail P. :
"Ability of a robot to travel through its free-workspace in an environment
with obstacles", The Int. Journal of Robotics Research, Vol. 10(3), pp
214-227, June 1991
-Wenger P.:
"Reconfiguration des robots exécutant une tâche de poursuite de
trajectoires continues, généralisation de la notion d'aspects", Revue
d'Automatique et de Productique Appliquées, Vol 4(3), pp 253-279, 1991, Ed.
Hermès.