Simon Foucault

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— This paper presents a trajectory planning approach for cable-suspended parallel mechanisms. A planar two-degree-of-freedom parallel mechanism is used for the analysis. Based on the dynamic model of the suspended robot, a set of algebraic inequalities is obtained that represents the constraints on the cable tensions. Parametric Cartesian trajectories are(More)
— This paper is a contribution to an invited session on the benchmarking of parallel mechanisms. The aim of the session is to compare different existing designs and prototypes of parallel mechanisms using a common set of benchmarking criteria. First, the kinematic architectures of parallel mechanisms of the multipteron family are presented. In addition to(More)
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