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Journal Articles

Exploiting the Kinematic Redundancy of a (6 + 3)-Degree-of-Freedom Parallel Manipulator to Produce Unlimited Rotation of the Platform

Arda Yiğit, David Breton, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071004.
Paper No: JMR-22-1624
https://doi.org/10.1115/1.4063407
Published Online: October 16, 2023
View Article titled, Exploiting the Kinematic Redundancy of a (6 + 3)-Degree-of-Freedom Parallel Manipulator to Produce Unlimited Rotation of the Platform
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Topics: Design, Kinematics, Redundancy (Engineering), Robots, Rotation, Path planning, Manipulators
Journal Articles

Kinematic Design and Prototyping of a Gripper with Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot

Accepted Manuscript
Charles-Antoine Beaulieu, Tan-Sy Nguyen, Thierry Laliberte, Clement Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1612
https://doi.org/10.1115/1.4063668
Published Online: October 5, 2023
View Article titled, Kinematic Design and Prototyping of a Gripper with Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot
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Topics: Degrees of freedom, Design, Grasping, Grippers, Kinematics, Robots
Journal Articles

Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot

Zhou Zhou, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051009.
Paper No: JMR-22-1136
https://doi.org/10.1115/1.4055965
Published Online: November 24, 2022
View Article titled, Analysis and Design of a Novel Compact Three-Degree-of-Freedom Parallel Robot
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Topics: Kinematics, Robots, Design, Chain, Jacobian matrices
Journal Articles

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

Jean-Michel Boisclair, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051001.
Paper No: JMR-22-1043
https://doi.org/10.1115/1.4055605
Published Online: November 24, 2022
View Article titled, On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
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Topics: Artificial limbs, Deformation, Design, Grasping, Rolling contact, Optimization, Cables, Pinch effect, Friction, Prostheses
Journal Articles

Reorientation of Free-Falling Legged Robots

Mark Charlet, Clément Gosselin
Journal: ASME Open Journal of Engineering
Publisher: ASME
Article Type: Research Papers
ASME Open J. Engineering. January 2022, 1: 011009.
Paper No: AOJE-21-1009
https://doi.org/10.1115/1.4053897
Published Online: March 4, 2022
View Article titled, Reorientation of Free-Falling Legged Robots
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Topics: Robots, Kinematics, Rotation
Journal Articles

Determination of the Inverse Kinematics Branches of Solution Based on Joint Coordinates for Universal Robots-Like Serial Robot Architecture

Louis-Thomas Schreiber, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. June 2022, 14(3): 034501.
Paper No: JMR-21-1243
https://doi.org/10.1115/1.4052805
Published Online: November 18, 2021
View Article titled, Determination of the Inverse Kinematics Branches of Solution Based on Joint Coordinates for Universal Robots-Like Serial Robot Architecture
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Topics: Kinematics, Robots
Journal Articles

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
https://doi.org/10.1115/1.4051132
Published Online: July 21, 2021
View Article titled, Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
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Topics: Calibration, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Redundant manipulators, Robots, Engineering prototypes, Actuators
Journal Articles

Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms

Jian S. Dai, Yan Jin, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. August 2021, 13(4): 040301.
Paper No: JMR-21-1250
https://doi.org/10.1115/1.4051206
Published Online: June 3, 2021
View Article titled, Special Section: Design, Analysis and Actuation of Reconfigurable Parallel Mechanisms
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Topics: Design, Parallel mechanisms
Journal Articles

Exploiting Redundancies for Workspace Enlargement and Joint Trajectory Optimization of a Kinematically Redundant Hybrid Parallel Robot

Kefei Wen, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040905.
Paper No: JMR-20-1615
https://doi.org/10.1115/1.4050681
Published Online: April 19, 2021
View Article titled, Exploiting Redundancies for Workspace Enlargement and Joint Trajectory Optimization of a Kinematically Redundant Hybrid Parallel Robot
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Topics: Kinematics, Optimization, Robots, Trajectories (Physics), Design
Proceedings Papers

A Graphic Simulator for the Study of Robotic Tracking and Catching Operations

Jean Côte, Clément Gosselin, Denis Laurendeau
Proc. ASME. CIE92, ASME 1992 International Computers in Engineering Conference: Volume 1 — Artificial Intelligence; Expert Systems; CAD/CAM/CAE; Computers in Fluid Mechanics/Thermal Systems, 141-146, August 2–6, 1992
Publisher: American Society of Mechanical Engineers
Paper No: CIE1992-0019
https://doi.org/10.1115/CIE1992-0019
View Paper titled, A Graphic Simulator for the Study of Robotic Tracking and Catching Operations
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Topics: End effectors, Kinematics, Manipulators, Robotics, Robots, Silicon
Journal Articles

Modeling and Development of Passively Adaptive Assistive Tools for the Assembly of Press-Fit Components

Jérôme Landuré, Thierry Laliberté, Clément Gosselin, Muhammad E. Abdallah
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2021, 143(9): 093301.
Paper No: MD-20-1715
https://doi.org/10.1115/1.4050106
Published Online: March 19, 2021
View Article titled, Modeling and Development of Passively Adaptive Assistive Tools for the Assembly of Press-Fit Components
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Topics: Design, Manufacturing, Springs, Rotation, Kinematics, Architecture, Press fits
Proceedings Papers

Efficient Computation of the Direct Kinematics of Parallel Manipulators Using Polynomial Networks

Roger Boudreau, Salah Darenfed, Clément Gosselin
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 263-270, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0331
https://doi.org/10.1115/DETC1994-0331
View Paper titled, Efficient Computation of the Direct Kinematics of Parallel Manipulators Using Polynomial Networks
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Topics: Computation, Kinematics, Manipulators, Polynomials, Artificial neural networks, Databases, Degrees of freedom, Errors, Trajectories (Physics)
Journal Articles

Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction

Gabriel Boucher, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021002.
Paper No: JMR-20-1132
https://doi.org/10.1115/1.4049191
Published Online: January 18, 2021
View Article titled, Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction
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Topics: Design, Design engineering, Displacement, Engineering prototypes, Kinematics, Robots, Sensors, Shells, Human-robot interaction, Springs
Journal Articles

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014503.
Paper No: JMR-20-1117
https://doi.org/10.1115/1.4048258
Published Online: October 22, 2020
View Article titled, Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
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Topics: Actuators, Architecture, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Robots, Manufacturing, Springs
Journal Articles

Dynamic Point-To-Point Trajectory Planning for Three Degrees-of-Freedom Cable-Suspended Parallel Robots Using Rapidly Exploring Random Tree Search

Sheng Xiang, Haibo Gao, Zhen Liu, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041007.
Paper No: JMR-19-1294
https://doi.org/10.1115/1.4045848
Published Online: March 6, 2020
View Article titled, Dynamic Point-To-Point Trajectory Planning for Three Degrees-of-Freedom Cable-Suspended Parallel Robots Using Rapidly Exploring Random Tree Search
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Topics: Algorithms, Cables, Robots, Trajectories (Physics), Tension
Journal Articles

Experimental Validation of a Three-Degree-of-Freedom Cable-Suspended Parallel Robot for Spatial Translation With Constant Orientation

Dinh-Son Vu, Eric Barnett, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2019, 11(2): 024502.
Paper No: JMR-18-1209
https://doi.org/10.1115/1.4042345
Published Online: February 27, 2019
View Article titled, Experimental Validation of a Three-Degree-of-Freedom Cable-Suspended Parallel Robot for Spatial Translation With Constant Orientation
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Topics: Cables, Kinematics, Robots, Errors, End effectors
Journal Articles

Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism

Louis-Thomas Schreiber, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021005.
Paper No: JMR-18-1337
https://doi.org/10.1115/1.4042346
Published Online: February 27, 2019
View Article titled, Exploiting the Kinematic Redundancy of a (6 + 3) Degrees-of-Freedom Parallel Mechanism
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Topics: Actuators, Kinematics, Parallel mechanisms, Redundancy (Engineering), Jacobian matrices, Degrees of freedom, Trajectories (Physics), Manipulators
Journal Articles

Dynamic Trajectory Planning and Geometric Analysis of a Two-Degree-of-Freedom Translational Cable-Suspended Planar Parallel Robot Using a Parallelogram Cable Loop

Jordan M. Longval, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020903.
Paper No: JMR-18-1362
https://doi.org/10.1115/1.4042486
Published Online: February 22, 2019
View Article titled, Dynamic Trajectory Planning and Geometric Analysis of a Two-Degree-of-Freedom Translational Cable-Suspended Planar Parallel Robot Using a Parallelogram Cable Loop
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Topics: Cables, End effectors, Robots, Trajectories (Physics), Kinematics
Proceedings Papers

Kinematic and Workspace Modelling of a 6- P US Parallel Mechanism

Jérôme Landuré, Clément Gosselin
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A049, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86122
https://doi.org/10.1115/DETC2018-86122
View Paper titled, Kinematic and Workspace Modelling of a 6- P US Parallel Mechanism
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Topics: Kinematics, Modeling, Parallel mechanisms, Algorithms, Architecture, Jacobian matrices, Kinematic analysis
Proceedings Papers

Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism

Louis-Thomas Schreiber, Clément Gosselin
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A038, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85322
https://doi.org/10.1115/DETC2018-85322
View Paper titled, Exploiting the Kinematic Redundancy of a 6+3 Dofs Parallel Mechanism
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Topics: Kinematics, Parallel mechanisms, Redundancy (Engineering), Actuators, Degrees of freedom, Stress, Trajectories (Physics)