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WELCOME TO THE HOME PAGES OF
PHILIPPE WENGER Directeur de
recherche CNRS |
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Research interests
o Kinematics and performance analysis
of robots
o Singularity analysis of serial and parallel manipulators
o Design of serial and parallel manipulators
o Tensegrity mechanisms
o Trajectory optimization
Education
1982 - 1985 Student of mechanical
engineering, specializing in robotics at Ecole Nationale Supérieure de Mécanique (Engineer National School), France.
1984 Master 1 degree in mechanical engineering
1985 Master
2 degree in Robotics and National Engineer degree in mechanical engineering and
robotics
1986 - 1989 PhD
candidate at the Laboratoire d’Automatique, Ecole
Centrale de Nantes, France.
1989 PhD Thesis: “Workspace and moveability analysis
of robots among obstacles, application to the design of robotic workcells”
(Winner of the CNRS/AFCET national
price for the best thesis of the year)
1998 Research Habilitation in Mechanical Engineering
2000 Professor
qualification in Mechanical Engineering and in Automatics
Professional Career
1989 - 1990 Assistant Professor in mechanical
engineering and robotics at Ecole Centrale de Nantes
1990 - 2002 Research
scientist at C.N.R.S. (National Center for Scientific
Research)
1998 - 2003 Head
of the CAD/CAM and Production Engineering team at IRCCyN
2002 -
Research Director at C.N.R.S.
and Professor at Ecole Centrale de Nantes
2003 - 2010 Head
of the Mechanical Design team at IRCCyN
2010 - 2016 Head
of the Robotics team at IRCCyN
Visiting Professor: Laval University (Canada,
2001), Lomonossov University (Russia, 2003), ITLag (Mexico, 2004), ENISO (Tunisia, 2009), Keio
University (Japan, 2010), AIT Bangkok (Thailand, 2012), IIT Indore (India,
2017), Changzhou University (China, 2018)
Recent funded projects
2007 - 2011 Singularities of Parallel Robots
(ANR SIROPA, 626k€)
2010 - 2013 Robotized imaging for minimally invasive
surgery, (FUI General Electric-Healthcare, 400k€)
2011 - 2020 Robotic Platforms (PIA Equipex
Robotex, 962k€)
2015 - 2018 Singularities of lower-mobility parallel
manipulators (French-Autrian ANR/FWF KAPAMAT, 220k€)
2017 - 2021 Design of a robotic arm inspired from the
bird neck (ANR AVINECK, 352k€)
2019 - 2024 Efficient Certified Algorithms for Robot
Motion Planning (ANR ECARP, 744k€)
Editorial Appointments
2004- 2008 Associate
Editor, Problems of Mechanics
2009- Associate Editor,
Mechanism and Machine Theory
2012 - 2019 Associate Editor, ASME J. of Mechanisms and Robotics
Membership in Scientific and Professional
Organizations
1996 - Member
of the IFToMM technical committee Computational
Kinematics
2007-2015 Chair,
research group “Mechatronic and Innovative Design of Robots” of the CNRS
Robotics Research Committee (GDR-Robotique)
2011-2019 Vice-chair,
IFToMM technical committee “Computational Kinematics”
2016-2022 Member of the scientific commission of
FNRS (Bruxelles, 2016-2022)
2017 - 2022 Cochair of the
Research Council and Member of the Executive Board of the RFI Atlanstic2020
Conference Membership and Organization
1994 - Member
of scientific committee of more than 20 international conferences
1994 Organizer
and chair, Track Advanced CAD for Robotics, Int. Symp.
On Robotics and Manufacturing (ISRAM’1994)
1996 Vice chair of
the organizing committee, Int. Conf. on Integrated Design and Manufacturing in
Mechanical Engineering (IDMME’1996)
2006 Organizer and
chair, Track Track Robotics of the future, IFAC
INCOM’2006
2008 Organizer and
chair, Int. Conference on Advances in Robot Kinematics (ARK’2008)
2011 Organizer and
chair, National biennal robotics conference (JNRR’2011)
2012 Organizer and
chair, Engineering Systems Design and Analysis, Track Robotics (ASME ESDA’2012)
2015 Organizer and
chair, Workshop on medical and service robotics (MESROB’2015)
2016 Organizer and
chair, IFToMM European Conference on Mechanism
Science (EUCOMES’2016)
2018 Co chair, IFToMM European Conference on Mechanism Science
(EUCOMES’2018)
2018 Organizer and
chair, 22nd CISM IFToMM Symposium on Robot
Design, Dynamics and Control (ROMANSY’2018)
2023 Organizer and co chair, 4th Int. Summer School on
Singularities of Mechanism and Robotic manipulators (SIMERO’2023)
Current Ph.D. students
o Mikael Arslan : Design and control a hybrid cable-driven parallel robot (2024-), cosupervised with C. Chevallereau and S. Caro.
o Karol Munoz : Analysis and design of spatial tensegrity structures for interactive manipulation (2023-), cosupervised with Mathieu Porez
o John Isac
: Study of spatial cable-driven manipulators made of 2X-joints (2022-), Cosupervised with S. Mohan (IIT Palakad,
India)
o Nicolas Testard
: Study and control of a hyper-redundant, under-actuated tensegrity manipulator
(2021-), Cosupervised with C. Chevallereau
Former Ph.D.
students
- Vimalesh
Muralidharan : Kinematic analysis and design of tensegrity joints,
graduated in 2023. Current position: Post-Doc at Laval University, Québec, Canada.
- Durgesh Salunkhe :
Cuspidal robots: theoretical study and applications,
graduated in 2023. Current position: Post-Doc at EPFL, Switzerland.
- Benjamin Fasquelle :
- Matthieu
Furet :
- Abhilash
Nayak :
- Romain Benoit : Qualitative analysis of robots, graduated in 2017.
Current position: engineer at LISA
- Lorenzo Gagliardini : Discrete
reconfiguration of cable-driven parallel robots, graduated in 2016. Current
position: engineer in Italy
- Latifah Nurahmi :
Kinematic analysis and design of lower-mobility parallel manipulators,
graduated in December 2015. Current position: researcher at Industrial Automation Lab, Mech.
Engineering, ITS Surabaya, Indonesia
- Coralie Germain : Design of a new pick-and-place parallel manipulator ,
graduated in December 2013. Present position: assistant professor in
- Seeman Amine :
Lower-mobility parallel manipulators: geometrical analysis, singularities and
conceptual design, Gratuated in 2011. Present
position : assistant professor in Lebannon
- Nicolas Binaud
: Robust design of parallel mechanisms. Graduated in 2010. Present position :
assistant professor at Université Paul Sabatier,
Toulouse, France
- Guillaume Jacquenot
: Layout optimization problems. Graduated in 2010. Present position : research
engineer at SIREHNA,
- Raza Ur-Rehman
: Multi-objective design of parallel
manipulators. Graduated in 2009. Present position : research engineer in
- Daniel Kanaan
: Kinematic and Dynamic analysis of parallel kinematic machines. Graduated in
2008. Present position : research engineer at AREVA, Marcoule,
France.
- Mazen Zein : Singularity analysis of parallel manipulators.
Graduated in 2007. Present position : project manager in
- Ofelia-Guillermina
Alba-Gomez : Trajectory Optimization of redundant parallel manipulators. Graduated in 2007. Present
positon: research engineer,
- Maher Baili
: Kinematic analysis of 3R manipulators. Graduated in december
2004. Present position : associate prof. in
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- Félix Majou : Design of parallel kinematic
machines. Graduated in september 2004. Present
position : senior financial analyst is Geneva, Switzerland
- Damien Chablat :
Uniqueness domains and moveability of parallel
manipulators. Gratuated in 1998. Present
position : CNRS research scientist at IRCCyN
- Jaouad
El Omri : Kinematic analysis of regional
manipulators, graduated in 1996. Present position : engineer in Marocco
- Hervé
Thomas : Optimal trajectory planning of a fleet of mobile robots Graduated in
1995. Present position : professor at Ecole Centrale
de Nantes
- Fabienne
Reynier : Geometric synthesis of robotic sites,
Graduated in 1992. Present position : engineer in
Teaching
o 2018- Kinematics and Design of Robots (Ecole
Centrale de Nantes, Doctoral School SPI)
o 2009- Optimal Kinematic Design of Robots (Ecole
Centrale de Nantes, Master of Science II, Erasmus Mundus EMARO (http://emaro.irccyn.ec-nantes.fr/)
o 2002-2014 Kinematics of
Parallel Mechanisms (Ecole Centrale de Nantes)
o 1995-2015 Mechanics and
Robotics (Ecole Supérieure d’Electricité)
o 1996-2014 Design of Robotic
sites (Ecole Centrale de Nantes)
Patents:
A. Ketfi-Cherif,
D. Chablat, P. Wenger, M. GHANES. Système et procédé de branchement d’un organe de connexion à
un organe de connexion complémentaire porté par un véhicule automobile (System and method for connecting a connector to a complementary connector carried by a motor vehicle). French Patent 1852014.
D. Chablat
and P. Wenger, “Device for the movement and orientation of an object
in space and use thereof in rapid machining”, CNRS/Ecole
Centrale de Nantes. European patent EP1597017 ( 23 November 2005), US patent: US
10/544464 (27 May 2011) .
Peer reviewed journal papers:
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Vimalesh Muralidharan, Philippe Wenger, Christine Chevallereau, "Design considerations and workspace
computation of 2-X and 2-R planar cable-driven tensegrity-inspired manipulators",
Mechanism and Machine Theory, Vol. 195, 105610, ISSN 0094-114X, 2024.
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John, I., Mohan, S., and Wenger, P. "Kinetostatic Analysis of a Spatial Cable-Actuated Variable
Stiffness Joint." ASME. J. Mechanisms and Robotics; 16(9): 091003,
2024.
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Muralidharan, V., Chevallereau, C., and Wenger, P. "Coactivation
in symmetric four-bar mechanisms antagonistically actuated by cables."
ASME. J. Mechanisms and Robotics. doi:
https://doi.org/10.1115/1.4064981, 2024.
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Vimalesh Muralidharan, Philippe Wenger, Christine Chevallereau, "Optimal design and comparison of 2-X
and 2-R planar cable-driven tensegrity-inspired manipulators", Mechanism
and Machine Theory, Vol. 200, 105721, ISSN 0094-114X, 2024.
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Abourachid A, Chevallereau, C, Pelletan I,
Wenger P. “An upright life, the postural stability of birds: a tensegrity
system”, J. Royal Society Interface 20: 20230433.
https://doi.org/10.1098/rsif.2023.0433, 2023.
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Wenger, P., and Chablat, D.,
"A Review of Cuspidal Serial and Parallel
Manipulators." ASME. J. Mechanisms Robotics. 15(4): 040801, August 2023
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Muralidharan, V., Testard, N., Chevallereau, C., Abourachid, A., and Wenger, P.: "Variable Stiffness
and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird
Neck." ASME. J. Mechanisms Robotics. June 2023; 15(3): 035002
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Salunkhe, D., Spartalis, C., Capco, J., Chablat, D. and Wenger, P. (2022): “Necessary and
sufficient condition for a generic 3R serial manipulator to be cuspidal”, Mechanism and Machine Theory, Vol. 171, 2022,
104729, ISSN 0094-114X.
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Sunilkumar P, Mohan S, Mohanta JK, Wenger P, Rybak L.
Design and motion control scheme of a new stationary trainer to perform lower
limb rehabilitation therapies on hip and knee joints. International Journal of
Advanced Robotic Systems. January 2022.
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Furet, M., Abourachid,
A., Böhmer, C., Chummun,
V., Chevallereau, C., Cornette,
C., De La Bernardie, X. and Wenger, P. (2021):
“Estimating motion between avian vertebrae by contact modeling of joint
surfaces”, Computer Methods in Biomechanics and Biomedical Engineering, DOI:
10.1080/10255842.2021.1934676
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Abourachid, A., Gagnier, B., Furet, M., Cornette, R., Delapre, A., Hackert, R., P. Wenger (2021) Modeling intervertebral
articulation: “The rotule à doigt
mechanical joint (RAD) in birds and mammals”. Journal of Anatomy, 00, 1– 13. https://doi.org/10.1111/joa.13517
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Fasquelle, B., Khanna, P., Chevallereau, C., Chablat, D., Creusot, D., Jolivet, S., Lemoine, P., and Wenger, P. (June 21, 2021). "Identification and control of a 3-X cable-driven
manipulator inspired from the bird neck." ASME. J. Mechanisms Robotics.
doi: https://doi.org/10.1115
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Vimalesh Muralidharan, Philippe Wenger, “Optimal design and
comparative study of two antagonistically actuated tensegrity joints”,
Mechanism and Machine Theory, Vol. 159, 2021, 104249, ISSN 0094-114X
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C. Chevallereau, P. Wenger, Y. Aoustin,
F. Mercier, N. Delanoue, P. Lucidarme,
“ Leg design for biped locomotion with mono-articular
and bi-articular linear actuation”, Mechanism
and Machine Theory, Vol. 156, Feb. 2021, 104138
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Abourachid, A. and P. Wenger (2019) "Avineck, the neck of the bird, an arm for the robots”. Computer Methods in Biomechanics and Biomedical Engineering, DOI: 10.1080/10255842.2019.1668135
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Furet, M. and Wenger, P. "Kinetostatic analysis and actuation strategy of a planar tensegrity 2-X manipulator." ASME. J. Mechanisms Robotics. 1-19, 2019.
doi: https://doi.org/10.1115/1.4044209
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P. Wenger and D. Chablat, “Kinetostatic analysis
and solution classification of a class of planar tensegrity mechanisms”, Robotica, 1-11,
doi:10.1017/S026357471800070X, 2018
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A. Nayak, S. Caro, P. Wenger, “Kinematic analysis of the
3-RPS-3-SPR manipulator”, Robotica, 1-27.
doi:10.1017/S0263574718000826, 2018
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A. Nayak, S. Caro, P. Wenger, “Comparison of 3-[PP]S Parallel
Manipulators based on their Singularity Free Orientation Workspace, Parasitic
Motions and Complexity”, Mechanism and
Machine Theory, 129, 293-315, 2018
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A Nayak, T Stigger, ML Husty, P Wenger, S Caro, Operation mode analysis of 3-RPS
parallel manipulators based on their design parameters, Computer Aided
Geometric Design 63, 122-134, 2018
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Benoit, R., Delanoue, N., Lagrange, S., and Wenger, P.: Guaranteed
detection of the singularities of 3R robotic manipulators, Mechanical Sciences, 7, 31-38,
doi:10.5194/ms-7-31-2016, 2016
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Nurahmi, L., Caro,
Wenger, P., S., Husty, M., and Schadlbauer,
J., “Reconfiguration analysis of a 4-RUU parallel manipulator”, Mechanism and Machine Theory, Vol. 96,
part 2, pages 269-289, February 2016.
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D. Reveles, J.A. Pamanes, P. Wenger,
“Trajectory Planning of Kinematically Redundant
Parallel Manipulators by Using Multiple Working Modes”, Mechanism and Machine Theory, Vol. 98, pages 216–230, April 2016.
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Nurahmi, L., Caro,
Wenger, P., S., Husty, M., and Schadlbauer,
J., “Reconfiguration
analysis of a 4-RUU parallel manipulator”, Mechanism and Machine Theory, in press, 2015.
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Nurahmi, L., Schadlbauer, J., Caro, S., Husty,
M., and Wenger, P., “Kinematic Analysis of the 3-RPS Cube Parallel
Manipulator”, ASME Journal of Mechanisms
and Robotics, Vol. 7, Issue 1, pp. 011008- 1–011008-10, DOI :
10.1115/1.4029305, 2015.
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Coralie
Germain, Sébastien Briot, Stéphane Caro, Philippe Wenger. An Efficient
Method for the Natural Frequency Computation of Parallel Robots. ASME Journal of Computational and Nonlinear
Dynamics, Vol 10(2), 2015.
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F. Andres
Lara-Molina, J. M. Rosario, D. Dumur, and P. Wenger: ”Robust
Generalized Predictive Control of the Orthoglide
Robot”, Industrial Robot: an
International Journal, 41 (3), pp.275-285, 2014.
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M. Husty, J. Schadlbauer,
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Germain, C., Caro, S., Briot, S., and Wenger, P., 2013, “Singularity-free Design
of the Translational Parallel Manipulator IRSBot-
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Manubens M., Moroz G., Chablat D., Wenger P, Rouiller F.,“ Cusp Points in the Parameter Space of
Degenerate 3-RPR Planar Parallel Manipulators”, ASME J. of Mechanisms and
Robotics, Vol. 4(4), November, 2012.
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Amine S., Masouleh M., Caro S., Wenger P, C. Gosselin, “Singularity
conditions of 3T2R parallel mechanisms using Grassmann-Cayley Algebra and Grassmann Line Geometry”, Mechanism and Machine Theory, Vol. 52, juin 2012, pp. 326–340.
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Amine S., Masouleh M., Caro S., Wenger P, C. Gosselin, “Singularity
conditions of 3T1R parallel manipulators with identical limb structures”, ASME J. of Mechanisms and Robotics, Vol4(1), 2012, p. 011011.
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Amine S., Masouleh M., Caro S., Wenger P, C. Gosselin, “Singularity Analysis Of The 4-RUU Parallel Manipulator Using Grassmann-Cayley Algebra”, ASME J. of Mechanisms and Robotics, Trans. Can.Soc. Mech. Eng., No. 11-CSME-70, E.I.C. Accession 3310, Vol. 35(4), pp. 515–528.
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Amine S. Caro S.,
Wenger, P. Kanaan D., “Singularity analysis of the H4
robot using Grassmann-Cayley algebra”, Robotica, Vol 30
(7), December 2012.
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Binaud N., Caro S., Wenger P,
“Comparison of 3-RPR planar parallel manipulators with regard to their kinetostatic performance and sensitivity to geometric
uncertainties”, Mecanica,
Vol. 46 (1), February 2011, pp
75-88.
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Binaud N., Caro S., Wenger P, “Sensitivity
comparison of planar manipulators”, Mechanism
and Machine Theory, Vol. 45
(11), November 2010, pp 1477-1490.
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Moroz G., Rouiller
F., Chablat D., Wenger P, “On the determination of
cusp points of 3-RPR parallel manipulators”, Mechanism and Machine Theory, Vol. 45 (11), November 2010.
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Ur-Rehman, R., Caro, S., Chablat,
D., Wenger P, 2010, “Multiobjective Path Placement
Optimization of Parallel Kinematics Machines Based on Energy Consumption,
Shaking Forces and Maximum Actuators Torques: Application to the Orthoglide”, Mechanism
and Machine Theory, Vol. 45(8),
August 2010, pp. 1125-1141.
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Caro S., Binaud N., Wenger P: "Sensitivity Analysis of 3-RPR
Planar Parallel Manipulators," ASME
Journal of Mechanical Design Vol.131(12), december
2009.
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Ur-Rehman R., Caro S., Chablat D. et Wenger P : “Path placement optimization of
manipulators based on energy consumption: application to the orthoglide 3-axis”, Trans.
Can. Soc. Mech. Eng, Vol.33(3), pp. 523–541.
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Kanaan D., Wenger P, Caro S., Chablat D., “Singularity Analysis of Lower-Mobility
Parallel Manipulators Using Grassmann-Cayley
Algebra”, IEEE Transactions on Robotics, vol. 25 (5), pp.
995-1004, October 2009.
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Pashkevich A., Klimchik A, Chablat D., Wenger P : “Stiffness
analysis of multi-chain robotic systems with loading”. J. of Aut.,
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Pashkevich A., Chablat D., Wenger P, “Kinematic calibration of Orthoglide-type mechanisms from observation of parallel leg
motions”, IFAC Mechatronics, vol. 19,(4).pp. 478-488. Juin 2009.
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Chablat D., Wenger P, Staicu, S., “Dynamics of the Orthoglide
parallel robot”, UPB Scientific Bulletin, Series D: Mechanical Engineering,
Volume 71 (3), pp. 3-16, 2009.
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Pashkevich A., Chablat D., Wenger P : “Stiffness
analysis of overconstrained parallel manipulators”.
Mechanism and Machine Theory, Vol.
44(5), Mai 2009, pp. 966-982.
- Kanaan D., Wenger
P, Chablat D., “Kinematic Analysis of a Serial -
Parallel Machine Tool: the VERNE machine”, Mechanism
and Machine Theory, Vol. 44(2), Février 2009, pp.
487-498.
- Briot S., Bonev I., Chablat D., Wenger P et
Vigen Arakelian : “Self
motions of general 3-RPR parallel robots”, International
Journal of Robotics Research, Vol. 27, No. 7, pp. 855-866, mai 2008.
- Zein M., Wenger
P., D. Chablat : “Non-Singular
Assembly-mode Changing Motions for 3-RPR Parallel Manipulators”. Mechanism and Machine Theory, Volume
43(4) pp. 391-524, Avril 2008.
- Zein M., Wenger
P., D. Chablat : “ Singular Curves in the Joint Space and
Cusp Points of 3-RPR parallel manipulators ”. Special issue of Robotica on Geometry in Robotics and Sensing, Volume
25(6), pp.717-724, 2007.
- Wenger P : “Cuspidal and noncuspidal robot
manipulators”. Special issue of Robotica on
Geometry in Robotics and Sensing, Volume 25(6), pp.677-690, 2007.
- Majou F., Gosselin C., Wenger P, Chablat D.: “Parametric
stiffness analysis of the Orthoglide”. Mechanism and Machine Theory, Volume
42(3), pp. 296-311, mars 2007.
- Wenger P, D. Chablat, Zein M.: “Degeneracy
study of the forward kinematics of planar 3-RPR parallel manipulators”. ASME
J. of Mechanical Design, Vol 129(12), pp 1265-1268, december
2007.
- Zein M., Wenger
P., Chablat D. : “An
Exhaustive Study of the Workspace Topologies of all 3R Orthogonal Manipulators
with Geometric Simplifications”. Mechanism
and Machine Theory, 2006, Volume 41(8), pp. 971-986, August 2006.
- Kanaan D., Wenger P,
Chablat D. : “Workspace
Analysis of the Parallel Module of the VERNE Machine”. Problems of Mechanics,
Vol. 25, N°4, pp 26-42, 2006.
- Caro S., Wenger
P, Bennis F. “Robustness Study of Generic and Non-Generic 3R Positioning
Manipulators”, Problems of Mechanics, Vol. 22, N°1, pp 9-23, janvier 2006.
- Alba-Gomez O., Wenger P, Pamanes A. “Performance Indices For Kinematically
Redundant Parallel Planar Manipulators”, Problems of Mechanics, Vol. 22,
N°1, pp 22-40, janvier 2006.
- Caro S. Wenger
P, Bennis F., Chablat D. “Sensitivity Analysis of the Orthoglide, a 3-DOF Translational Parallel Kinematic
Machine”, ASME Journal of Mechanical Design, Vol. 128 (3), 2006.
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Innocenti C., Wenger P : “Position Analysis of the RRP-3(SS)
Multi-Loop Spatial Structure”, ASME Journal of Mechanical Design, Vol.
128 (1), pp 272-278, 2006.
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Pashkevich A., Chablat D et Wenger P, “Kinematics and Workspace Analysis of a three-Axis Parallel
Manipulator : the Orthoglide”, Robotica, Vol. 24 (1), pp 39-49, 2006.
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Wenger P., Chablat
D, Baili M., “A DH
parameter based condition for 3R orthogonal manipulators to have four distinct
inverse kinematic solutions”, ASME Journal of Mechanical design, Vol.
127(1), pp 150-155, janvier 2005.
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Caro S., Bennis
F., Wenger P., “Tolerance Synthesis of Mechanisms: a Robust Design Approach”, ASME
Journal of Mechanical Design, Vol. 127(1), pp 86-94, janvier
2005.
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Pashkevich A., Wenger P et Chablat D, “Design Strategies for
the Geometric Synthesis of Orthoglide-type Mechanisms”, Mechanism and Machine Theory, Volume 40(8),
pp. 907-930, Août 2005.
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Wenger P, Chablat D., Pashkevich A. “Geometric synthesis of orthoglide-type
mechanisms”. Transactions of
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Baili M., Wenger P.,
Chablat D, “Kinematic Analysis of a Family of 3R
manipulators”, Problems of Mechanics, Vol. 15, N°2, pp 27-32, juillet 2004.
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Wenger P., “Curve
Following for Redundant manipulators with Obstacles : Feasibility Analysis and
Solutions”, Problems of Mechanics, Vol. 15, N°2, pp 17-26, juillet 2004.
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Wenger P.,
“Uniqueness domains and regions of feasible paths for cuspidal
manipulators », IEEE Transactions on Robotics, Vol. 20(4), pp.
745-750, août 2004.
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Chablat D, Wenger P., Majou
F., Merlet
J.P., “An Interval Analysis Based
Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines”, International Journal of Robotics Research,
Vol. 23 (6), pp 615-624, June 2004.
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Chablat D., Wenger P., “
Architecture Optimization of a 3-DOF Parallel Mechanism for Machining
Applications, the Orthoglide”, IEEE Transactions
on Robotics and Automation, vol. 19(3), pp 403-410, June 2003.
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Wenger P, Gosselin
C., Chablat D, « A Comparative Study of Parallel
Kinematic Architecture for Machining Applications », Electronic Journal
of Computational Kinematics, 2002.
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Chablat D., Wenger P.,
“Separations of solutions to the direct and the inverse geometric models for
fully parallel manipulators”, Mechanism and Machine Theory, vol. 36 (6),
pp 763-783, 2001.
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Wenger P. :
"Some guidelines for the kinematic design of new Manipulators", Mechanisms
and Machine Theory, Vol 35(3), pp 437-449, Décembre
1999.
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Wenger P. :
"Classification of 3R Positioning Manipulators", ASME Journal of
Mechanical Design, vol 120(2), pp 327-332, 1998.
- Wenger P., El Omri J. : "Comments on a classification of 3-R
manipulators singularities and geometries", Mechanism and Machine
Theory, Vol.32, No 4, pp 529-532, avril 1997.
- Wenger P. :
"Kinematic analysis of manipulators with general geometry : generalization
of the aspects". Transactions of the C.S.M.E, Vol. 17, n° 4, pp.
493-511, december 1993.
- Wenger P., Chedmail P. : "Manipulator free-workspace : a new
approach for robotic CAD systems", Int
J. of Systems Automation : Research and Application, Vol. 2, N°2, pp
167-183, 1992.
- Wenger P., Chedmail P. : "On the connectivity of manipulator
free-workspace", Journal of Robotic Systems, Vol. 8(6), pp 767-799,
december 1991.
- Wenger P., Chedmail P. : "Ability of a robot to travel through
its free-workspace in an environment with obstacles", The Int. Journal of Robotics Research, Vol. 10(3), pp 214-227, June 1991
Books, book chapters
P Wenger, B Fasquelle, A Abourachid, C Chevallereau : Un robot en tenségrité
inspiré du cou de l’oiseau (A tensegrity robot
inspired from the bird neck) - Techniques
de l'ingénieur-Robotique bio-inspirée, 2023
- John, I., Mohan,
S., Wenger, P.: Kinematic and Static Modelling of a New
Two-Degree-of-Freedom Cable Operated Joint. In: Laribi,
M.A., Nelson, C.A., Ceccarelli, M., Zeghloul, S. (eds)
New Advances in Mechanisms, Transmissions and Applications. MeTrApp
2023. Mechanisms and Machine Science, vol 124.
Springer
- Chevallereau, C., Wenger, P., Abourachid,
A.: A New Bio-Inspired Joint with Variable Stiffness. In: Tarnita, D., Dumitru, N., Pisla, D., Carbone, G., Geonea,
I. (eds) New Trends in
Medical and Service Robotics. MESROB 2023. Mechanisms and Machine Science, vol 133. Springer
- Testard, N.J.S., Chevallereau,
C., Wenger, P. : Comparison Analysis
of Tendon-Driven Manipulators Based on Their Wrench Feasible
Workspace. In: Caro, S., Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots.
CableCon 2023. Mechanisms and Machine Science, vol 132. Springer
- Testard, N.J.S., Chevallereau,
C., Wenger, P.: Comparison of Explicit and Implicit Numerical
Integrations for a Tendon-Driven Robot. In: Caro, S., Pott, A., Bruckmann, T. (eds)
Cable-Driven Parallel Robots. CableCon 2023.
Mechanisms and Machine Science, vol 132. Springer
- Muralidharan, V., Chevallereau,
C., Wenger, P., Testard, N.J.S :
Effect of Antagonistic Cable Actuation on the Stiffness
of Symmetric Four-Bar Mechanisms. In: Caro, S., Pott, A., Bruckmann, T. (eds)
Cable-Driven Parallel Robots. CableCon 2023. Mechanisms and Machine Science, vol 132. Springer
- Wenger P. (2019) Cuspidal Robots. In: Müller A., Zlatanov
D. (eds) Singular
Configurations of Mechanisms and Manipulators. CISM International Centre for
Mechanical Sciences (Courses and Lectures), vol 589.
Springer, Cham. https://doi.org/10.1007/978-3-030-05219-5_3
- V. Arakelyan et P. Wenger (Dir.), “Romansy 22 –
Robot Design, Dynamics and Control”, Spinger, ISBN:
978-3-319-78962-0, 2018.
- B. Corves, P.
Wenger, M. Hüsing (Dir), “EuCoMeS2018: Proceedings of
the 7th European Conference on Mechanism Science”, Springer, ISBN: 978-3-319-98019-95, 2018.
- P. Wenger and P. Flores (Ed.), “New trends in Mechanism
and Machine Science, Theory and Industrial Applications”, Springer, ISBN:
978-3-319-44155-9, 2017.
- P. Wenger et al.
(Ed.), “New Trends in
Medical and Service Robotics: Human Centered Analysis, Control and Design”,
Springer, ISBN: 978-3-319-30673-5, 2016.
- Lorenzo Gagliardini, Stéphane Caro, Marc Gouttefarde, Philippe Wenger, Alexis Girin,
A Reconfigurable Cable-Driven Parallel Robot for Sandblasting and Painting of
Large Structures, Cable-Driven Parallel Robots, Mechanisms and Machine Science
Volume 32, 2015, pp 275-291.
- Husty, M., Schadlbauer,
J., Caro, S. and Wenger, P., 2014, “Non-Singular Assembly Mode Change of 3-RPS
Manipulators”, in Computational
Kinematics, Mechanisms and Machine Science, Vol. 15, pp. 339–348.
- S. Caro, D. Chablat, P. Wenger and X. Kong, “Kinematic and Dynamic
analysis of a parallel manipulator with eight actuation modes”, in New Trends in Medical and service Robots,
Springer,
2014.
- M. Husty, J. Schadlbauer, S. Caro,
P. Wenger, “Self-Motions of 3-RPS Manipulators”, in New Trends in Mechanisms and Machine Science, Theory and Applications in Engineering, Springer, 2013.
- M. Coste, D. Chablat, P. Wenger,
“Perturbation of symmetric 3-RPR manipulators and asymptotic singularities”, in
New Trends in Mechanisms and Machine
Science, Theory and Applications in
Engineering, Springer, 2013.
- S. Amine, S. Caro,
P. Wenger, “Constraint and singularity analysis of the Exechon”,
in Periodical of Applied Mechanics and
Materials, Mechanisms, Mechanical Transmissions and Robotics, Vol 162, pp
141-150, Trans Tech. Publications Inc., 2012.
- F.A. Lara-Molina,
J.M. Rosario, D. Dumur, P. Wenger, “Generalized
Predictive Control of Parallel Robots”, in Lecture
Notes in Control and Information Science, Robot Motion and Control, Vol.
422, pp159-169, 2012.
- S. Caro, D. Chablat, R. Ur-Rehman, P. Wenger,
“Multiobjective Design Optimization of 3–PRR Planar
Parallel Manipulators”, Global Product Development, DOI
10.1007/978-3-642-15973-2_37, © Springer-Verlag Berlin
Heidelberg, 2011, pp 373-383.
- Lenarcic J., Wenger P. (Ed) : "Advances in Robot
Kinematics: analysis and design", Springer, 2008, ISBN-13:
978-1-4020-8599-4, 472 pages.
- Wenger P :
"Performance Analysis of Robots", chapter (48 pages) in « Robot
manipulators : modelling, performances analysis and control» Ed.
Wiley-ISTE, 2007.
- S. Caro, D. Chablat, R. Ur-Rehman, P. Wenger,
“Multiobjective Design Optimization of 3–PRR Planar
Parallel Manipulators”, Global Product Development, DOI 10.1007/978-3-642-15973-2_37,
© Springer-Verlag Berlin Heidelberg, 2011.
- Pashkevich A., Chablat D., Wenger
P., R. Gomolitsky, “Calibration of 3-d.o.f.
Translational Parallel Manipulators Using Leg Observations”. I-Tech Education
and Publishing, Chapitre:11. Pages 225-240.
- Wenger P. :
"Performance Analysis of Robots", in « Robot manipulators :
modelling, performances analysis and control» Ed. Wiley-ISTE, 2007.
- Pashkevich A., Chablat D. et Wenger
Ph., “Kinematic calibration of orthoglide-type
mechanisms”, Information Control Problems in Manufacturing 2006, Elsevier, série IFAC Proc, pp. 149-154, décembre 2006.
- Chablat D., Wenger Ph., Angeles J., “ Isotropic design
of parallel mechanisms, application to machining ”, in Integrated Design
and Manufacturing in Mechanical Engineering, Kluwer Academic Publisher, 2002.
- Chablat D., Wenger Ph., Angeles J., “ The Kinematic
Design of a 3-DOF Hybrid Manipulator ”, in Integrated Design and
Manufacturing in Mechanical Engineering, Kluwer Academic Publisher, 1999.
- Chedmail P., Dombre E., Wenger Ph. : "La
CAO en Robotique : outils et méthodologies", Hermès, June 1998, 380 pages.
- Wenger Ph. :
"Design of Robotic Workcells : synthesis and
application", in Integrated Design and Manufacturing in Mechanical
Engineering, Kluwer Academic Publisher, 1997;
- Reynier F., Wenger Ph., Chedmail
P. : "On the feasibility of collision-free trajectories for redundant
robots" in Advances in Factories of the future, CIM and Robotics, pp
397-406, Elsevier Science, 1993.