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Journal Articles

A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace

Foroogh Behroozi, Ramin Mersi, Antoine Benoist, Ru Ying Yong, Philippe Cardou, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010905.
Paper No: JMR-23-1582
https://doi.org/10.1115/1.4065393
Published Online: June 17, 2024
View Article titled, A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace
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Topics: Actuators, Cables, Robots, Pulleys
Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89384
https://doi.org/10.1115/DETC2022-89384
View Paper titled, Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
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Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes
Journal Articles

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt

Lionel Étienne, Philippe Cardou, Marceau Métillon, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041006.
Paper No: JMR-21-1546
https://doi.org/10.1115/1.4054081
Published Online: April 21, 2022
View Article titled, Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
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Topics: Cables, Robots, Trajectories (Physics), Motors, Design
Proceedings Papers

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt

Lionel Etienne, Philippe Cardou, Marceau Métillon, Stéphane Caro
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A038, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71778
https://doi.org/10.1115/DETC2021-71778
View Paper titled, Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
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Topics: Cables, Cranes, Design, Robots, Actuators, Dynamics (Mechanics), Engines, Inertia (Mechanics), Modeling, Motors
Journal Articles

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Marceau Métillon, Philippe Cardou, Kévin Subrin, Camilo Charron, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031017.
Paper No: JMR-20-1456
https://doi.org/10.1115/1.4049631
Published Online: March 15, 2021
View Article titled, A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations
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Topics: Cables, Robots, End effectors, Manipulators
Proceedings Papers

A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations

Marceau Métillon, Saman Lessanibahri, Philippe Cardou, Kévin Subrin, Stéphane Caro
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A026, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22426
https://doi.org/10.1115/DETC2020-22426
View Paper titled, A Cable-Driven Parallel Robot With Full-Circle End-Effector Rotations
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Topics: Cables, End effectors, Robots, Actuators, Collisions (Physics), Degrees of freedom, Design, Inertia (Mechanics), Modeling
Journal Articles

A Cable-Driven Parallel Robot With An Embedded Tilt-Roll Wrist

Saman Lessanibahri, Philippe Cardou, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021107.
Paper No: JMR-19-1430
https://doi.org/10.1115/1.4045937
Published Online: February 6, 2020
View Article titled, A Cable-Driven Parallel Robot With An Embedded Tilt-Roll Wrist
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Topics: Cables, Design, Manipulators, Robots
Proceedings Papers

A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist

Saman Lessanibahri, Philippe Cardou, Stéphane Caro
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A028, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98146
https://doi.org/10.1115/DETC2019-98146
View Paper titled, A Cable-Driven Parallel Robot With an Embedded Tilt-Roll Wrist
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Topics: Cables, Robots, Manipulators, Design, Inertia (Mechanics), Motors, Rotation, Surveillance
Proceedings Papers

Kinetostatic Analysis of a Simple Cable-Driven Parallel Crane

Saman Lessanibahri, Philippe Cardou, Stéphane Caro
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A049, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86173
https://doi.org/10.1115/DETC2018-86173
View Paper titled, Kinetostatic Analysis of a Simple Cable-Driven Parallel Crane
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Topics: Cables, Cranes, Hoists, Ceilings, Circuits, Degrees of freedom, Equilibrium (Physics), Gantry cranes, Inertia (Mechanics), Manufacturing
Proceedings Papers

A Frame-Independent Vector Expression of the Singularity Locus of the Gough-Stewart Platform

Karine Doyon, Clément Gosselin, Philippe Cardou
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1207-1216, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70526
https://doi.org/10.1115/DETC2012-70526
View Paper titled, A Frame-Independent Vector Expression of the Singularity Locus of the Gough-Stewart Platform
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Topics: Algebra, Jacobian matrices
Proceedings Papers

Estimating the Orientation of a Game Controller Moving in the Vertical Plane Using Inertial Sensors

Peng He, Philippe Cardou, André Desbiens
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1375-1384, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70446
https://doi.org/10.1115/DETC2012-70446
View Paper titled, Estimating the Orientation of a Game Controller Moving in the Vertical Plane Using Inertial Sensors
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Topics: Control equipment, Sensors, Filters, Kalman filters
Journal Articles

A Vector Expression of the Constant-Orientation Singularity Locus of the Gough–Stewart Platform

Karine Doyon, Clément Gosselin, Philippe Cardou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2013, 5(3): 034502.
Paper No: JMR-12-1168
https://doi.org/10.1115/1.4024295
Published Online: June 24, 2013
View Article titled, A Vector Expression of the Constant-Orientation Singularity Locus of the Gough–Stewart Platform
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Topics: Jacobian matrices, Scalars, Architecture, Kinematics, Modeling
Journal Articles

Estimating the Angular Velocity From Body-Fixed Accelerometers

Peng He, Philippe Cardou
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2012, 134(6): 061015.
https://doi.org/10.1115/1.4006364
Published Online: October 8, 2012
View Article titled, Estimating the Angular Velocity From Body-Fixed Accelerometers
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Topics: Accelerometers, Errors
Proceedings Papers

Towards Parallel Cable-Driven Pantographs

Simon Perreault, Philippe Cardou, Cle´ment Gosselin
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1263-1272, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47751
https://doi.org/10.1115/DETC2011-47751
View Paper titled, Towards Parallel Cable-Driven Pantographs
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Topics: Cables, Design, Electromechanical systems, Engineering prototypes, Magnetic fields, Springs, Tension
Proceedings Papers

An Improved Branch-and-Bound Algorithm for Minimizing the Potential Energy of a Cable-Suspended Rigid Body

Franc¸ois Guay, Jean-Franc¸ois Collard, Philippe Cardou, Marc Gouttefarde
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 1291-1300, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48169
https://doi.org/10.1115/DETC2011-48169
View Paper titled, An Improved Branch-and-Bound Algorithm for Minimizing the Potential Energy of a Cable-Suspended Rigid Body
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Topics: Algorithms, Cables, Potential energy, Equilibrium (Physics), Optimization, Robots, Rotation
Proceedings Papers

The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances

Nicolas Binaud, Philippe Cardou, Ste´phane Caro, Philippe Wenger
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1371-1380, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28635
https://doi.org/10.1115/DETC2010-28635
View Paper titled, The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances
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Topics: Kinematics, Manipulators, Errors, Clearances (Engineering)
Proceedings Papers

The Dimensional Synthesis of the Linear Delta Robot for a Force-Feedback Device

Philippe Cardou, Denis Laurendeau, Luc Beaulieu, Luc Be´langer, Alexandre Carette
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 829-838, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28383
https://doi.org/10.1115/DETC2010-28383
View Paper titled, The Dimensional Synthesis of the Linear Delta Robot for a Force-Feedback Device
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Topics: Force feedback, Robots, Kinematics, Optimization, Actuators, Dimensions, Manipulators, Virtual reality
Journal Articles

Geometric Determination of the Interference-Free Constant-Orientation Workspace of Parallel Cable-Driven Mechanisms

Simon Perreault, Philippe Cardou, Clément M. Gosselin, Martin J.-D. Otis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031016.
https://doi.org/10.1115/1.4001780
Published Online: July 27, 2010
View Article titled, Geometric Determination of the Interference-Free Constant-Orientation Workspace of Parallel Cable-Driven Mechanisms
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Topics: Cables, End effectors
Journal Articles

Linear Estimation of the Rigid-Body Acceleration Field From Point-Acceleration Measurements

Philippe Cardou, Jorge Angeles
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. July 2009, 131(4): 041013.
https://doi.org/10.1115/1.3117209
Published Online: May 21, 2009
View Article titled, Linear Estimation of the Rigid-Body Acceleration Field From Point-Acceleration Measurements
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Topics: Accelerometers
Journal Articles

Angular Velocity Estimation From the Angular Acceleration Matrix

Philippe Cardou, Jorge Angeles
Journal: Journal of Applied Mechanics
Publisher: ASME
Article Type: Research Papers
J. Appl. Mech. March 2008, 75(2): 021003.
https://doi.org/10.1115/1.2775495
Published Online: February 20, 2008
View Article titled, Angular Velocity Estimation From the Angular Acceleration Matrix
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Topics: Accelerometers, Errors, Simulation, Sensors, Measurement units and standards