Stéphane Caro

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This paper addresses the dimensional synthesis of parallel kinematics machines. A multiobjective optimization problem is proposed in order to determine optimum structural and geometric parameters of parallel manipulators. The proposed approach is applied to the optimum design of a three-degree-of-freedom planar parallel manipulator in order to minimize the(More)
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OBJECTIVE The goal of this study was to provide a better understanding of driver behavior in fog. BACKGROUND Impaired perception of changes in headway is hypothesized to be one of the reasons for shorter following distances in foggy conditions as compared with clear weather. METHOD In the experiments described here, we measured response time for(More)
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the measurement errors, the set of manipulator configurations for calibration experiments is optimized with respect to the(More)
In this paper, a planar 3-PPR parallel robot with a non-symmetrical base is proposed. The topology of base platform design is addressed for maximizing the robot's workspace. A robot with U-shape base is designed and analyzed. The new robot reveals some interesting features, such as decoupled degrees of freedom and large reachable and orientational workspace.
The subject of this paper is a special class of parallel manipulators. First, we analyze a family of threedegree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the jointrate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direct kinematics" matrices. The singular configurations(More)
The paper is devoted to the elastostatic calibration of industrial robots, which are used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot(More)