Description : Description : cnrs

WELCOME TO THE HOME PAGES OF PHILIPPE WENGER

Directeur de recherche CNRS
LS2N - UMR CNRS 6004
Laboratoire des Sciences du Numérique de Nantes (formerly IRCCyN)
1, rue  la Noë - BP 92101 44321 Nantes Cedex 3 - France
Tel. +33 (0)240376947 - Fax. +33 (0)240376930
Mail : Philippe.Wenger@ls2n.fr

                                                                                                                                            

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

o CAD-Robotics

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 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)

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 - 2019    Robotic Platforms (PIA Equipex Robotex, 962k€)

2015 - 2018    Singularities of lower-mobility parallel manipulators (French-Autrian ANR/FWF KAPAMAT, 220k€)

2017 - 2020    Design of a robotic arm inspired from the bird neck (ANR AVINECK, 352k€)

Editorial Appointments

2004- 2008     Associate Editor, Problems of Mechanics
2009-              Associate Editor, Mechanism and Machine Theory http://www.journals.elsevier.com/mechanism-and-machine-theory/editorial-board/)
2012 -             Associate Editor, ASME J. of Mechanisms and Robotics (http://journaltool.asme.org/Content/EditorsAssociateEditors.cfm)

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 -             Vice-chair, IFToMM technical committee “Computational Kinematics”
2017 -             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)

Current Ph.D. students

o Benjamin Fasquelle : Theoretical and experimental study of innovative robot architectures inspired by the neck of birds: design and control (2018-). Cosupervised with C. Chevallereau

o Matthieu Furet : Kinetostatic analysis of tensegrity mechanisms, application to the modelling of bird necks (2017-).

o Abhilash Nayak : Analysis and design of re-configurable lower mobility parallel manipulators (2015-). Cosupervised with S. Caro, IRCCyN

Former Ph.D. students

- 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 Rennes.

- 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, Nantes, France.

- Raza Ur-Rehman : Multi-objective design of  parallel manipulators. Graduated in 2009. Present position : research engineer in Pakistan.

- 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 Lebanon.

- Ofelia-Guillermina Alba-Gomez : Trajectory Optimization of redundant parallel manipulators. Graduated in 2007. Present positon:  research engineer, Torreon, Mexico

- Maher Baili : Kinematic analysis of 3R manipulators. Graduated in december 2004. Present position : associate prof. in Tarbes, France
-
Stéphane Caro : Robust design of mechanisms. Graduated in december 2004. Present position : CNRS research scientist at IRCCyN
- 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 Paris.

Teaching

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. 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) .

Books, book chapters

- 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. Vienna, In: Parallel Manipulators, New Developments, 2008. Editeurs: J.H. Ryu.

- 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.

Peer reviewed journal papers:

-    P. Wenger and D. Chablat, “Kinetostatic analysis and solution classification of a class of planar tensegrity mechanisms”, Robotica, ,to appear, 2018

-    A. Nayak, S. Caro, P. Wenger, “Kinematic analysis of the 3-RPS-3-SPR manipulator”, Robotica, to appear, 2018

-    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

-    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

-    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

-    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.

-    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.

-    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.

-    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.

-    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.

-    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.

-    M. Husty, J. Schadlbauer, S. Caro, P. Wenger, “Self-Motions of 3-RPS Manipulators”, Frontiers of Mechanics, 2013, Vol. 8(1), pp. 62-69, 2013.

-    Germain, C., Caro, S., Briot, S., and Wenger, P., 2013, “Singularity-free Design of the Translational Parallel Manipulator IRSBot-2”, Mechanism and Machine Theory, Vol. 64, pp. 262–285, June 2013.

-    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.

-    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, in press.

-    Amine S. Caro S., Wenger, P. Kanaan D., “Singularity analysis of the H4 robot using Grassmann-Cayley algebra”, Robotica, Vol 30 (7), December 2012.

-    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.

-    Binaud N., Caro S., Wenger P, “Sensitivity comparison of planar manipulators”, Mechanism and Machine Theory, Vol. 45 (11), November 2010, pp 1477-1490.

-    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.

-    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.

-    Caro S., Binaud N., Wenger P: "Sensitivity Analysis of 3-RPR Planar Parallel Manipulators," ASME Journal of Mechanical Design Vol.131(12), december 2009.

-    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.

-    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.

-    Pashkevich A., Klimchik A, Chablat D., Wenger P : Stiffness analysis of multi-chain robotic systems with loading”. J. of Aut., Mobile Robotics and Intelligent Systems, Vol. 3(3), 2009, pp. 75-82.

-    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.

-    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.

-    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.  

-    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.

-    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.

-    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.

-    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.

-    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.

-    Wenger P, Chablat D., Pashkevich A. Geometric synthesis of orthoglide-type mechanisms”. Transactions of Belarusian Engineering Academy, 17, (4), pp 69-72, 2004.

-    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.

-    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.

-    Wenger P., “Uniqueness domains and regions of feasible paths for cuspidal manipulators », IEEE Transactions on Robotics, Vol. 20(4), pp. 745-750, août 2004.

-    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.

-    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.

-    Wenger P, Gosselin C., Chablat D, « A Comparative Study of Parallel Kinematic Architecture for Machining Applications », Electronic Journal of Computational Kinematics, 2002.

-    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.

-    Wenger P. : "Some guidelines for the kinematic design of new Manipulators", Mechanisms and Machine Theory, Vol 35(3), pp 437-449, Décembre 1999.

-    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