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Stéphane Caro
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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
Journal Articles

Analytic Center-Based Tension Distribution for Cable-Driven Platforms

Vincenzo Di Paola, Alexandre Goldsztejn, Matteo Zoppi, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081018.
Paper No: JMR-23-1452
https://doi.org/10.1115/1.4065244
Published Online: April 24, 2024
View Article titled, Analytic Center-Based Tension Distribution for Cable-Driven Platforms
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Topics: Cables, Tension, Optimization, End effectors, Simulation, Robots
Journal Articles

Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111002.
Paper No: JMR-23-1677
https://doi.org/10.1115/1.4065071
Published Online: March 29, 2024
View Article titled, Optimized Ray-Based Method for Workspace Determination of Kinematic Redundant Manipulators
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Topics: Algorithms, Kinematics, Robots, Monte Carlo methods, End effectors
Proceedings Papers

Wrench Capability Analysis of a Planar Dual-Platform Cable-Driven Parallel Robot

Tahir Rasheed, Philip Long, Taskin Padir, Stéphane Caro
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A010, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116412
https://doi.org/10.1115/DETC2023-116412
View Paper titled, Wrench Capability Analysis of a Planar Dual-Platform Cable-Driven Parallel Robot
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Topics: Cables, Robots, Composite materials, Equilibrium (Physics), Gantry cranes, Simulation, Stability
Proceedings Papers

Sensitivity Analysis of Tension Distribution Algorithms for Cable-Driven Parallel Robots

Vincenzo Di Paola, Stéphane Caro, Matteo Zoppi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A013, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116640
https://doi.org/10.1115/DETC2023-116640
View Paper titled, Sensitivity Analysis of Tension Distribution Algorithms for Cable-Driven Parallel Robots
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Topics: Algorithms, Cables, Robots, Sensitivity analysis, Tension
Proceedings Papers

Workspace Determination of Kinematic Redundant Manipulators Using a Ray-Based Method

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A007, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115240
https://doi.org/10.1115/DETC2023-115240
View Paper titled, Workspace Determination of Kinematic Redundant Manipulators Using a Ray-Based Method
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Topics: Kinematics, Redundant manipulators, Robots, Redundancy (Engineering), Algorithms, Manipulators
Journal Articles

Design of a Sliding Mode-Adaptive Proportional-Integral-Derivative Control for Aerial Systems With a Suspended Load Exposed to Wind Gusts

Vincenzo Di Paola, Alexandre Goldsztejn, Matteo Zoppi, Stéphane Caro
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. June 2023, 18(6): 061008.
Paper No: CND-22-1192
https://doi.org/10.1115/1.4062324
Published Online: May 4, 2023
View Article titled, Design of a Sliding Mode-Adaptive Proportional-Integral-Derivative Control for Aerial Systems With a Suspended Load Exposed to Wind Gusts
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Topics: Design, Stress, Wind, Simulation, Errors
Journal Articles

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot

Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031007.
Paper No: JMR-22-1497
https://doi.org/10.1115/1.4056830
Published Online: March 27, 2023
View Article titled, Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl’Bot Robot
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Topics: Kinematics, Optimization, Robots, Trajectories (Physics), Redundancy (Engineering)
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

Special Section: Theory and Design of Reconfigurable Mechanisms and Robots

Dongming Gan, Stéphane Caro, Guimin Chen, Scott Nokleby, Jian S Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. December 2022, 14(6): 060301.
Paper No: JMR-22-1441
https://doi.org/10.1115/1.4055836
Published Online: October 31, 2022
View Article titled, Special Section: Theory and Design of Reconfigurable Mechanisms and Robots
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Topics: Design, Robots, Robotics
Journal Articles

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots With Elastic Cables: A Neural Network Approach

Utkarsh A. Mishra, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041008.
Paper No: JMR-21-1542
https://doi.org/10.1115/1.4054407
Published Online: May 26, 2022
View Article titled, Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots With Elastic Cables: A Neural Network Approach
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Topics: Artificial neural networks, Cables, Kinematics, Algorithms, Robots
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

Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach

Utkarsh A. Mishra, Stéphane Caro
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A053, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71064
https://doi.org/10.1115/DETC2021-71064
View Paper titled, Forward Kinematics for Suspended Under-Actuated Cable-Driven Parallel Robots: A Neural Network Approach
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Topics: Artificial neural networks, Cables, Kinematics, Robots, Algorithms, Equilibrium (Physics), Function approximation, Gravity (Force), Kinematic analysis, Optimization
Proceedings Papers

Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots

Angelica Ginnante, François Leborne, Stéphane Caro, Enrico Simetti, Giuseppe Casalino
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A033, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70378
https://doi.org/10.1115/DETC2021-70378
View Paper titled, Design and Kinematic Analysis of a Novel 2-DoF Closed-Loop Mechanism for the Actuation of Machining Robots
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Topics: Design, Kinematic analysis, Machining, Robots, Stiffness, Kinematics, Manipulators, Degrees of freedom, Hard materials, Milling
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

Input Shaping for Feed-Forward Control of Cable-Driven Parallel Robots

Sana Baklouti, Eric Courteille, Philippe Lemoine, Stéphane Caro
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2021, 143(2): 021007.
Paper No: DS-19-1389
https://doi.org/10.1115/1.4048354
Published Online: October 12, 2020
View Article titled, Input Shaping for Feed-Forward Control of Cable-Driven Parallel Robots
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Topics: Cables, Feedforward control, Robots, Trajectories (Physics), Vibration, Errors, Filters, Stiffness, 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
Journal Articles

Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots

Tahir Rasheed, Philip Long, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031009.
Paper No: JMR-19-1155
https://doi.org/10.1115/1.4045423
Published Online: January 14, 2020
View Article titled, Wrench-Feasible Workspace of Mobile Cable-Driven Parallel Robots
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Topics: Cables, Equilibrium (Physics), Tension, Robots