Kinematic design and singularity analysis of new parallel manipulators
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Kinematic design and singularity analysis of new parallel manipulators
Fri, 03/03/2017 - 13:15 to 14:15
Location:
Speaker:
Prof Philippe Wenger
Affiliation:
IRCCyN, Ecole Centrale de Nantes, France
Synopsis:
The design of new parallel manipulators is a very challenging task. One of the reasons is the existence of singularities that are inherent to the kinematics of parallel manipulators. Singularities are not desirable since they may alter important performances such as the stiffness and the accuracy. This talk addresses the most recent research on the characterization, determination and management of singularities when applied to the design of parallel manipulators. A special focus will be addressed on the so-called lower-mobility parallel manipulators. Unlike their 6-degree-of-freedom counterparts, lower-mobility parallel manipulators are known to have constraint singularities and may admit several operation modes, a notion that has been formalized recently.
Biography:
Philippe Wenger obtained his PhD in 1989 in Nantes University, France, and the Professor Habilitation in 1998. He joined the IRCCyN in 1990 as a CNRS research scientist. He is a CNRS Director of Research since 2002 and serves as a Professor at Ecole Centrale de Nantes since 2000 where he teaches a course on the optimal kinematic design of robots in the EMARO master (European Master on Robotics). He has led several research teams since 1998, including the robotics team of IRCCyN from 2010 to 2016. He has been involved in the kinematic analysis and design of robotic mechanisms for more than 30 years. He has participated in several national and international projects on the innovative design of robots in a variety of applications including machining, pick-and-place, medical and bio-inspired design. He has been regularly collaborating with industrial such as GE-Healthcare, Staubli, PSA, Renault, EDF, Airbus, STX-France and DCNS. He has published more than 300 papers including 21 books and book chapters and 56 papers in international journals. He has been a visiting professor in various Universities such as Laval Univ. (Canada), Lomonossov Univ. (Russia), Keio Univ. (Japan), ITLag (Mexico), Eniso (Tunisia), and AIT Bangkok (Thailand). He serves as an Associate Editor for Mechanism and Machine Theory and ASME Journal of Mechanisms and Robotics, and as a Vice-Chair of the IFToMM Committee Computational Kinematics. He has organized and chaired several international conferences and workshops, including the last bi-annual European Conference on Mechanism Science (EUCOMES'2016).