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Clément M. Gosselin
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Journal Articles

The Maximal Singularity-Free Workspace of the Gough–Stewart Platform for a Given Orientation

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Qimi Jiang, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2008, 130(11): 112304.
https://doi.org/10.1115/1.2976452
Published Online: September 23, 2008
View Articletitled, The Maximal Singularity-Free Workspace of the Gough–Stewart Platform for a Given Orientation
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Topics: Algorithms, Robots, Parallel mechanisms, Design
Journal Articles

Singularity Equations of Gough–Stewart Platforms Using a Minimal Set of Geometric Parameters

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Qimi Jiang, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2008, 130(11): 112303.
https://doi.org/10.1115/1.2976450
Published Online: September 23, 2008
View Articletitled, Singularity Equations of Gough–Stewart Platforms Using a Minimal Set of Geometric Parameters
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Topics: Architecture, Manipulator kinematics, Optimization, Rotation, Jacobian matrices, Parallel mechanisms
Journal Articles

Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface

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Simon Perreault, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102301.
https://doi.org/10.1115/1.2965607
Published Online: August 21, 2008
View Articletitled, Cable-Driven Parallel Mechanisms: Application to a Locomotion Interface
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Topics: Cables, Geometry, Parallel mechanisms, Optimization, Design, Trajectories (Physics)
Journal Articles

Type Synthesis of Six-DOF Wrist-Partitioned Parallel Manipulators

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Xianwen Kong, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2008, 130(6): 062302.
https://doi.org/10.1115/1.2900717
Published Online: April 14, 2008
View Articletitled, Type Synthesis of Six-DOF Wrist-Partitioned Parallel Manipulators
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Topics: Manipulators
Journal Articles

Type Synthesis of Parallel Mechanisms With Multiple Operation Modes

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Xianwen Kong, Clément M. Gosselin, Pierre-Luc Richard
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2007, 129(6): 595–601.
https://doi.org/10.1115/1.2717228
Published Online: June 13, 2006
View Articletitled, Type Synthesis of Parallel Mechanisms With Multiple Operation Modes
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Topics: Parallel mechanisms
Journal Articles

Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator

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Pierre-Luc Richard, Clément M. Gosselin, Xianwen Kong
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2007, 129(6): 611–616.
https://doi.org/10.1115/1.2717611
Published Online: May 26, 2006
View Articletitled, Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator
Open the PDF for Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator in another window
Topics: Displacement, Kinematic analysis, Manipulators, Kinematics
Journal Articles

Static Balancing of Tensegrity Mechanisms

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Marc Arsenault, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2007, 129(3): 295–300.
https://doi.org/10.1115/1.2406100
Published Online: March 13, 2006
View Articletitled, Static Balancing of Tensegrity Mechanisms
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Topics: Actuators, Springs, Tensegrity mechanisms, Stress
Journal Articles

On the Dynamic Balancing of Multi-DOF Parallel Mechanisms With Multiple Legs

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Yangnian Wu, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2007, 129(2): 234–238.
https://doi.org/10.1115/1.2406093
Published Online: February 9, 2006
View Articletitled, On the Dynamic Balancing of Multi-DOF Parallel Mechanisms With Multiple Legs
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Topics: Parallel mechanisms
Journal Articles

Disscussion: “Kinematics of the Translational 3-URC Mechanism” [ Di Gregorio, R., 2004, ASME J. Mech. Des., 126, pp. 1113–1117 ]

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Xianwen Kong, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Discussions
J. Mech. Des. July 2006, 128(4): 812–813.
https://doi.org/10.1115/1.2205875
Published Online: January 19, 2006
View Articletitled, Disscussion: “Kinematics of the Translational 3-URC Mechanism” [ Di Gregorio, R., 2004, ASME J. Mech. Des., 126, pp. 1113–1117 ]
Open the PDF for Disscussion: “Kinematics of the Translational 3-URC Mechanism” [ Di Gregorio, R., 2004, ASME J. Mech. Des., 126, pp. 1113–1117 ] in another window
Topics: Displacement, Inverse problems, Kinematics, Manipulator kinematics
Journal Articles

Kinematic, Static, and Dynamic Analysis of a Spatial Three-Degree-of-Freedom Tensegrity Mechanism

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Marc Arsenault, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2006, 128(5): 1061–1069.
https://doi.org/10.1115/1.2218881
Published Online: November 30, 2005
View Articletitled, Kinematic, Static, and Dynamic Analysis of a Spatial Three-Degree-of-Freedom Tensegrity Mechanism
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Topics: Actuators, End effectors, Kinematics, Springs, Stiffness, Tensegrity mechanisms, Stress, Dynamics (Mechanics), Equilibrium (Physics), Dynamic analysis
Journal Articles

Adaptive Robotic Mechanical Systems: A Design Paradigm

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Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 192–198.
https://doi.org/10.1115/1.2120781
Published Online: August 19, 2005
View Articletitled, Adaptive Robotic Mechanical Systems: A Design Paradigm
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Topics: Design, Robotics
Journal Articles

Analytic Form of the Six-Dimensional Singularity Locus of the General Gough-Stewart Platform

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Haidong Li, Clément M. Gosselin, Marc J. Richard, Boris Mayer St-Onge
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2006, 128(1): 279–287.
https://doi.org/10.1115/1.2118733
Published Online: April 27, 2005
View Articletitled, Analytic Form of the Six-Dimensional Singularity Locus of the General Gough-Stewart Platform
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Topics: Jacobian matrices, Algorithms, Design
Journal Articles

Geometric Design of Three-Phalanx Underactuated Fingers

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Lionel Birglen, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 2006, 128(2): 356–364.
https://doi.org/10.1115/1.2159029
Published Online: April 13, 2005
View Articletitled, Geometric Design of Three-Phalanx Underactuated Fingers
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Topics: Actuators, Design, Equilibrium (Physics), Linkages, Stability, Tendons, Trajectories (Physics), Pulleys
Journal Articles

Type Synthesis of 3-DOF PPR-Equivalent Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain

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Xianwen Kong, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2005, 127(6): 1113–1121.
https://doi.org/10.1115/1.2044787
Published Online: March 16, 2005
View Articletitled, Type Synthesis of 3-DOF PPR-Equivalent Parallel Manipulators Based on Screw Theory and the Concept of Virtual Chain
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Topics: Chain, Kinematic chains, Screws, Manipulators
Journal Articles

Kinematic, Static, and Dynamic Analysis of a Planar One-Degree-of-Freedom Tensegrity Mechanism

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Marc Arsenault, Clément M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. November 2005, 127(6): 1152–1160.
https://doi.org/10.1115/1.1913705
Published Online: February 2, 2005
View Articletitled, Kinematic, Static, and Dynamic Analysis of a Planar One-Degree-of-Freedom Tensegrity Mechanism
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Topics: Actuators, Springs, Stiffness, Tensegrity, Tensegrity mechanisms, Kinematics, Dynamic models, Equilibrium (Physics)
Journal Articles

Interpolation Error Prediction of a Three-Degree Parallel Kinematic Machine

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Yang Wang, Tian Huang, Clement M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. September 2004, 126(5): 932–937.
https://doi.org/10.1115/1.1767184
Published Online: October 28, 2004
View Articletitled, Interpolation Error Prediction of a Three-Degree Parallel Kinematic Machine
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Topics: Errors, Interpolation, Kinematics, Machinery, Algorithms
Journal Articles

Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations

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Tian Huang, Zhanxian Li, Meng Li, Derek G. Chetwynd, Clement M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. May 2004, 126(3): 449–455.
https://doi.org/10.1115/1.1711822
Published Online: October 1, 2003
View Articletitled, Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations
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Topics: Conceptual design, Robots, Kinematics