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Cle´ment M. Gosselin
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Proceedings Papers

Forward Displacement Analysis of a Quadratic Planar Parallel Manipulator: 3-R P R Parallel Manipulator With Similar Triangular Platforms

Xianwen Kong, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1151-1158, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49436
https://doi.org/10.1115/DETC2008-49436
View Paper titled, Forward Displacement Analysis of a Quadratic Planar Parallel Manipulator: 3-R P R Parallel Manipulator With Similar Triangular Platforms
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Topics: Displacement, Manipulators, Food and Drug Administration, Frequency-domain analysis, Polynomials
Proceedings Papers

On the Ability of a Cable-Driven Robot to Generate a Prescribed Set of Wrenches

Samuel Bouchard, Cle´ment M. Gosselin, Brian Moore
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 47-58, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49518
https://doi.org/10.1115/DETC2008-49518
View Paper titled, On the Ability of a Cable-Driven Robot to Generate a Prescribed Set of Wrenches
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Topics: Cables, Robots, Geometry
Proceedings Papers

Evaluation and Representation of the Orientation Workspace of the Gough-Stewart Platform

Qimi Jiang, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 1111-1119, August 3–6, 2008
Publisher: American Society of Mechanical Engineers
Paper No: DETC2008-49089
https://doi.org/10.1115/DETC2008-49089
View Paper titled, Evaluation and Representation of the Orientation Workspace of the Gough-Stewart Platform
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Topics: Algorithms, Manipulators, Shapes, Yaw
Proceedings Papers

Singularity Equations of Gough-Stewart Platforms Using a Minimal Set of Geometric Parameters

Qimi Jiang, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1141-1149, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35371
https://doi.org/10.1115/DETC2007-35371
View Paper titled, Singularity Equations of Gough-Stewart Platforms Using a Minimal Set of Geometric Parameters
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Topics: Optimization
Proceedings Papers

Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface

Simon Perreault, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 791-799, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35582
https://doi.org/10.1115/DETC2007-35582
View Paper titled, Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface
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Topics: Cables, Parallel mechanisms, Design, Geometry, Trajectories (Physics)
Proceedings Papers

Computation of the Maximal Singularity-Free Workspace of the MSSM for a Given Orientation

Qimi Jiang, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1173-1182, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35500
https://doi.org/10.1115/DETC2007-35500
View Paper titled, Computation of the Maximal Singularity-Free Workspace of the MSSM for a Given Orientation
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Topics: Algorithms, Computation, Design, Parallel mechanisms, Robots
Proceedings Papers

Type Synthesis of Six-DOF Wrist-Partitioned Fully Parallel Manipulators

Xianwen Kong, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1195-1203, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-35531
https://doi.org/10.1115/DETC2007-35531
View Paper titled, Type Synthesis of Six-DOF Wrist-Partitioned Fully Parallel Manipulators
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Topics: Manipulators, Displacement, Kinematics
Proceedings Papers

Workspace Optimization of a Very Large Cable-Driven Parallel Mechanism for a Radiotelescope Application

Samuel Bouchard, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 963-970, September 4–7, 2007
Publisher: American Society of Mechanical Engineers
Paper No: DETC2007-34286
https://doi.org/10.1115/DETC2007-34286
View Paper titled, Workspace Optimization of a Very Large Cable-Driven Parallel Mechanism for a Radiotelescope Application
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Topics: Cables, Optimization, Parallel mechanisms, Radiotelescopes, Architecture, Design, Equilibrium (Physics), Geometry, Tension
Proceedings Papers

On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms

Marc Gouttefarde, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 337-346, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57127
https://doi.org/10.1115/DETC2004-57127
View Paper titled, On the Properties and the Determination of the Wrench-Closure Workspace of Planar Parallel Cable-Driven Mechanisms
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Topics: Cables, Algorithms, Parallel mechanisms
Proceedings Papers

Type Synthesis of 3-DOF PPR Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain

Xianwen Kong, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 1251-1260, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57472
https://doi.org/10.1115/DETC2004-57472
View Paper titled, Type Synthesis of 3-DOF PPR Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain
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Topics: Chain, Manipulators, Screws
Proceedings Papers

Analytic Form of the Six-Dimensional Singularity Locus of the General Gough-Stewart Platform

Haidong Li, Cle´ment M. Gosselin, Marc J. Richard, Boris Mayer-St-Onge
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 367-376, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57135
https://doi.org/10.1115/DETC2004-57135
View Paper titled, Analytic Form of the Six-Dimensional Singularity Locus of the General Gough-Stewart Platform
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Topics: Design, Flight, Jacobian matrices, Robotics
Proceedings Papers

On the Design of a 3-PRRR Spatial Parallel Compliant Mechanism

Yang Wang, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 387-395, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57140
https://doi.org/10.1115/DETC2004-57140
View Paper titled, On the Design of a 3-PRRR Spatial Parallel Compliant Mechanism
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Topics: Compliant mechanisms, Design, Parallel mechanisms
Proceedings Papers

Dynamic Balancing of Multi-Degree-of-Freedom Parallel Mechanisms With Multiple Legs

Yangnian Wu, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 1293-1301, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57494
https://doi.org/10.1115/DETC2004-57494
View Paper titled, Dynamic Balancing of Multi-Degree-of-Freedom Parallel Mechanisms With Multiple Legs
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Topics: Parallel mechanisms
Proceedings Papers

On the Synthesis of Reactionless Spatial 3-DOF Mechanisms Using Planar 4-Bar Linkages

Yangnian Wu, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 943-952, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34311
https://doi.org/10.1115/DETC2002/MECH-34311
View Paper titled, On the Synthesis of Reactionless Spatial 3-DOF Mechanisms Using Planar 4-Bar Linkages
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Topics: Linkages
Proceedings Papers

Singularity Analysis and Design of Kinematically Redundant Parallel Mechanisms

Jing Wang, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 953-960, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34312
https://doi.org/10.1115/DETC2002/MECH-34312
View Paper titled, Singularity Analysis and Design of Kinematically Redundant Parallel Mechanisms
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Topics: Design, Manipulators, Parallel mechanisms
Proceedings Papers

Jacobian Matrix of General Parallel and Hybrid Mechanisms With Rigid and Flexible Links: A Software-Oriented Approach

Bruno Monsarrat, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 461-470, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34252
https://doi.org/10.1115/DETC2002/MECH-34252
View Paper titled, Jacobian Matrix of General Parallel and Hybrid Mechanisms With Rigid and Flexible Links: A Software-Oriented Approach
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Topics: Computer software, Jacobian matrices, Manipulators, Chain, Equations of motion, Parallel mechanisms, Robots, Torsion
Proceedings Papers

On the Development of a Planar 3-DOF Reactionless Parallel Mechanism

Simon Foucault, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 985-993, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34316
https://doi.org/10.1115/DETC2002/MECH-34316
View Paper titled, On the Development of a Planar 3-DOF Reactionless Parallel Mechanism
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Topics: Parallel mechanisms, Engineering prototypes, Inertia (Mechanics), Linkages, Optimization
Proceedings Papers

Dynamic Simulation and Optimization of Underactuated Robotic Fingers

Laura M. Sie, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 191-199, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34220
https://doi.org/10.1115/DETC2002/MECH-34220
View Paper titled, Dynamic Simulation and Optimization of Underactuated Robotic Fingers
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Topics: Optimization, Robotics, Simulation, Design, Computer software, Friction, Grippers, Modeling, Simulation results
Proceedings Papers

Geometric Algorithms for the Computation of the Constant-Orientation Workspace and Singularity Surfaces of a Special 6-RUS Parallel Manipulator

Ilian A. Bonev, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 505-514, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34257
https://doi.org/10.1115/DETC2002/MECH-34257
View Paper titled, Geometric Algorithms for the Computation of the Constant-Orientation Workspace and Singularity Surfaces of a Special 6-RUS Parallel Manipulator
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Topics: Algorithms, Computation, Manipulators, Parallel mechanisms, Cross section (Physics), Domes (Structural elements), Geometry, Kinematics
Proceedings Papers

Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory

Xianwen Kong, Cle´ment M. Gosselin
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 523-531, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34259
https://doi.org/10.1115/DETC2002/MECH-34259
View Paper titled, Type Synthesis of 3-DOF Spherical Parallel Manipulators Based on Screw Theory
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Topics: Manipulators, Screws