Eric Courteille

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This paper presents the design optimization of a Delta-like robot manipulator with respect to multiple global stiffness objectives. For this purpose, a systematic elasto-geometrical modeling method is used to derive the analytical manipulator stiffness models by taking into account their link and joint compliances. The models are then involved within a(More)
This paper presents a systematic procedure for the elastodynamic modeling of industrial robots that is applicable to either serial or parallel manipulators. This procedure is based on a 3-D space generalization of the equivalent rigid link system (ERLS) description, the finite-element method (FEM), and the Lagrange principle. It considers flexible links and(More)
This paper focuses on the elastodynamic analysis of cable-driven parallel manipulators. Dynamic stiffness matrix of a single sagging cable is introduced. This matrix considers the effect of both cable mass and elasticity. Dynamic response functions are evaluated for cable-driven parallel manipulators. As an example, the dynamic analysis of a 6-DOF(More)
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