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Journal Articles

Modeling and Design of a five Degrees-of-Freedom Delta-Like Robot for Fast Pick-and-Place Applications

Accepted Manuscript
Valentin Le Mesle, Vincent Bégoc, Sebastien Briot
Journal: Journal of Mechanical Design
Article Type: Research Papers
Publisher: ASME
J. Mech. Des.
Paper No: MD-23-1088
https://doi.org/10.1115/1.4063359
Published Online: September 7, 2023
View Article titled, Modeling and Design of a five Degrees-of-Freedom Delta-Like Robot for Fast Pick-and-Place Applications
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Topics: Degrees of freedom, Design, Kinematics, Modeling, Optimization, Robots
Journal Articles

A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces

Guillaume Jeanneau, Vincent Bégoc, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041012.
Paper No: JMR-22-1535
https://doi.org/10.1115/1.4062946
Published Online: August 8, 2023
View Article titled, A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces
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Topics: Robots, Springs, Stiffness
Journal Articles

A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots

Federico Zaccaria, Edoardo Idá, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041010.
Paper No: JMR-22-1473
https://doi.org/10.1115/1.4062585
Published Online: June 9, 2023
View Article titled, A Boundary Computation Algorithm for the Workspace Evaluation of Continuum Parallel Robots
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Topics: Algorithms, Computation, Robots
Journal Articles

Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot

Guillaume Jeanneau, Vincent Bégoc, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031004.
Paper No: JMR-22-1250
https://doi.org/10.1115/1.4056765
Published Online: February 21, 2023
View Article titled, Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot
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Topics: Robots, Safety
Journal Articles

Structural Topology Optimization of Reactionless Four-Bar Linkages

J. Emmanuel Ayala-Hernández, Sébastien Briot, J. Jesús Cervantes-Sánchez
Journal: Journal of Mechanical Design
Article Type: Research Papers
J. Mech. Des. November 2022, 144(11): 111701.
Paper No: MD-22-1103
https://doi.org/10.1115/1.4054876
Published Online: July 22, 2022
View Article titled, Structural Topology Optimization of Reactionless Four-Bar Linkages
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Topics: Linkages, Optimization, Topology, Design
Journal Articles

Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs

Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051004.
Paper No: JMR-21-1235
https://doi.org/10.1115/1.4053158
Published Online: February 18, 2022
View Article titled, Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs
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Topics: Energy efficiency, Robots, Springs, Stiffness, Variable structure systems, Motors, Boundary-value problems
Proceedings Papers

Geometrico-Static Analysis of a New Collaborative Parallel Robot for Safe Physical Interaction

Guillaume Jeanneau, Vincent Bégoc, Sébastien Briot
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A067, August 17–19, 2020
Paper No: DETC2020-22330
https://doi.org/10.1115/DETC2020-22330
View Paper titled, Geometrico-Static Analysis of a New Collaborative Parallel Robot for Safe Physical Interaction
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Topics: Robots, Collisions (Physics), Inverse problems, Degrees of freedom, End effectors, Equilibrium (Physics), Manipulators, Risk, Springs, Stability
Journal Articles

Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

Sébastien Briot, Lila Kaci, Clément Boudaud, David Llevat Pamiès, Pauline Lafoux, Philippe Martinet
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051015.
Paper No: JMR-19-1526
https://doi.org/10.1115/1.4047726
Published Online: July 28, 2020
View Article titled, Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design
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Topics: Design, Robots, Wood products, Deformation
Journal Articles

Physical Interpretation of Rigidity for Bearing Formations: Application to Mobility and Singularity Analyses

Sébastien Briot, Paolo Robuffo Giordano
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 031006.
Paper No: JMR-18-1356
https://doi.org/10.1115/1.4043050
Published Online: April 9, 2019
View Article titled, Physical Interpretation of Rigidity for Bearing Formations: Application to Mobility and Singularity Analyses
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Topics: Bearings, Mechanical admittance, Stiffness, Chain, Kinematic chains, Robots
Proceedings Papers

Increasing Energy Efficiency of High-Speed Parallel Robots by Using Variable Stiffness Springs and Optimal Motion Generation

Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A011, August 26–29, 2018
Paper No: DETC2018-85090
https://doi.org/10.1115/DETC2018-85090
View Paper titled, Increasing Energy Efficiency of High-Speed Parallel Robots by Using Variable Stiffness Springs and Optimal Motion Generation
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Topics: Energy efficiency, Robots, Springs, Stiffness, Energy consumption, Motors, Variable structure systems, Actuators, Deflection, End effectors
Proceedings Papers

RobEcolo: Optimal Design of a Wooden Five-Bar Mechanism

Lila Kaci, Sébastien Briot, Clément Boudaud, Philippe Martinet
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A028, August 26–29, 2018
Paper No: DETC2018-85218
https://doi.org/10.1115/DETC2018-85218
View Paper titled, RobEcolo: Optimal Design of a Wooden Five-Bar Mechanism
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Topics: Design, Robots, Optimization, Wood products, Cascades (Fluid dynamics), Control equipment, Deformation, Design methodology, Dimensions, Equipment performance
Journal Articles

Design Procedure for a Fast and Accurate Parallel Manipulator

Sébastien Briot, Stéphane Caro, Coralie Germain
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061012.
Paper No: JMR-17-1128
https://doi.org/10.1115/1.4038009
Published Online: October 9, 2017
View Article titled, Design Procedure for a Fast and Accurate Parallel Manipulator
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Topics: Design, Robots, Optimization, Engineering prototypes, Manipulators
Journal Articles

A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing

Damien Six, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051008.
Paper No: JMR-17-1046
https://doi.org/10.1115/1.4037256
Published Online: August 7, 2017
View Article titled, A Controller Avoiding Dynamic Model Degeneracy of Parallel Robots During Singularity Crossing
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Topics: Dynamic models, Robots, Control equipment, Trajectories (Physics)
Journal Articles

Dynamic Parameter Identification of Overactuated Parallel Robots

Sébastien Briot, Sébastien Krut, Maxime Gautier
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2015, 137(11): 111002.
Paper No: DS-14-1237
https://doi.org/10.1115/1.4030867
Published Online: August 3, 2015
View Article titled, Dynamic Parameter Identification of Overactuated Parallel Robots
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Topics: Robots, Redundancy (Engineering), Dynamic models, Computation
Journal Articles

Natural Frequency Computation of Parallel Robots

Coralie Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. March 2015, 10(2): 021004.
Paper No: CND-13-1194
https://doi.org/10.1115/1.4028573
Published Online: March 1, 2015
View Article titled, Natural Frequency Computation of Parallel Robots
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Topics: Computation, Robots, Stiffness, Tree (Data structure)
Journal Articles

Global Identification of Joint Drive Gains and Dynamic Parameters of Robots

Maxime Gautier, Sébastien Briot
Journal: Journal of Dynamic Systems, Measurement, and Control
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2014, 136(5): 051025.
Paper No: DS-13-1373
https://doi.org/10.1115/1.4027506
Published Online: July 10, 2014
View Article titled, Global Identification of Joint Drive Gains and Dynamic Parameters of Robots
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Topics: Robots, Errors
Proceedings Papers

Optimal Motion Generation for Exiting a Parallel Manipulator From a Type 2 Singularity

Georges Pagis, Sébastien Briot, Nicolas Bouton, Philippe Martinet
Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A060, August 4–7, 2013
Paper No: DETC2013-12103
https://doi.org/10.1115/DETC2013-12103
View Paper titled, Optimal Motion Generation for Exiting a Parallel Manipulator From a Type 2 Singularity
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Topics: Manipulators, Robots, Trajectories (Physics), Actuators, Computation, Dynamic models, Engineering simulation, Errors, Kinematics, Modeling
Proceedings Papers

Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory

Coralie Germain, Stéphane Caro, Sébastien Briot, Philippe Wenger
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A056, August 4–7, 2013
Paper No: DETC2013-13037
https://doi.org/10.1115/DETC2013-13037
View Paper titled, Optimal Design of the IRSBot-2 Based on an Optimized Test Trajectory
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Topics: Design, Trajectories (Physics), Optimization, Manipulators, Cascades (Fluid dynamics), Cycles, Degrees of freedom, Engineering prototypes, Kinematics
Proceedings Papers

Trajectory Generation for High Speed Pick and Place Robots

Cornelius J. Barnard, Sébastien Briot, Stéphane Caro
Proc. ASME. ESDA2012, Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 165-174, July 2–4, 2012
Paper No: ESDA2012-82197
https://doi.org/10.1115/ESDA2012-82197
View Paper titled, Trajectory Generation for High Speed Pick and Place Robots
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Topics: Robots, Trajectories (Physics), Vibration, Cycles, Emission spectroscopy, Errors, Spectroscopy
Proceedings Papers

Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators

Dinh Quan Nguyen, Sébastien Briot, Philippe Wenger
Proc. ASME. ESDA2012, Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 175-184, July 2–4, 2012
Paper No: ESDA2012-82208
https://doi.org/10.1115/ESDA2012-82208
View Paper titled, Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators
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Topics: Manipulators, Kinematics, Dynamic analysis