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Clément M. Gosselin
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Proceedings Papers

Automatic Planning of Smooth Trajectories for Pick-and-Place Operations

Clément M. Gosselin, Ammar Hadj-Messaoud
Proc. ASME. DETC91, 17th Design Automation Conference: Volume 2 — Computer-Aided Design, Mechanical Systems Simulation, and Analysis, Mechanisms, and Robotics, 531-536, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0160
https://doi.org/10.1115/DETC1991-0160
View Paper titled, Automatic Planning of Smooth Trajectories for Pick-and-Place Operations
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Topics: Actuators, Algorithms, Currents, Kinematics, Manipulators, Polynomials, Trajectories (Physics)
Proceedings Papers

SIMPA: A Graphic Simulator for the CAD of Parallel Manipulators

Clément M. Gosselin, Simon Laverdière, Jean Côte
Proc. ASME. CIE92, ASME 1992 International Computers in Engineering Conference: Volume 1 — Artificial Intelligence; Expert Systems; CAD/CAM/CAE; Computers in Fluid Mechanics/Thermal Systems, 465-471, August 2–6, 1992
Publisher: American Society of Mechanical Engineers
Paper No: CIE1992-0055
https://doi.org/10.1115/CIE1992-0055
View Paper titled, SIMPA: A Graphic Simulator for the CAD of Parallel Manipulators
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Topics: Computer-aided design, Manipulators, Design, Stiffness, Simulation, Algorithms, Design engineering, End effectors, Optimization
Proceedings Papers

An Efficient Algorithm for the Graphical Representation of the Three-Dimensional Workspace of Parallel Manipulators

Clément M. Gosselin, Eric Lavoie, Pierre Toutant
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 323-328, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0230
https://doi.org/10.1115/DETC1992-0230
View Paper titled, An Efficient Algorithm for the Graphical Representation of the Three-Dimensional Workspace of Parallel Manipulators
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Topics: Algorithms, Manipulators, Computer-aided design
Proceedings Papers

On the Direct Kinematics of a Class of Spherical Three-Degree-of Freedom Parallel Manipulators

Clément M. Gosselin, Jaouad Sefrioui, Marc J. Richard
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 13-19, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0193
https://doi.org/10.1115/DETC1992-0193
View Paper titled, On the Direct Kinematics of a Class of Spherical Three-Degree-of Freedom Parallel Manipulators
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Topics: Kinematics, Manipulators, Polynomials, Actuators, Grippers
Proceedings Papers

Determination of the Singularity Loci of Spherical Three-Degree-of-Freedom Parallel Manipularors

Clément M. Gosselin, Jaouad Sefrioui
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 329-336, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0231
https://doi.org/10.1115/DETC1992-0231
View Paper titled, Determination of the Singularity Loci of Spherical Three-Degree-of-Freedom Parallel Manipularors
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Topics: Actuators, Algorithms, Design, End effectors, Jacobian matrices, Kinematics, Manipulators
Proceedings Papers

On the Direct Kinematics of General Spherical Three-Degree-of-Freedom Parallel Manipulators

Clément M. Gosselin, Jaouad Sefrioui, Marc J. Richard
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Robotics, Spatial Mechanisms, and Mechanical Systems, 7-11, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0192
https://doi.org/10.1115/DETC1992-0192
View Paper titled, On the Direct Kinematics of General Spherical Three-Degree-of-Freedom Parallel Manipulators
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Topics: Kinematics, Manipulators, Actuators, Polynomials
Proceedings Papers

APPréCIE: A Computer Package for the Simulation and Design of Mechanical Grippers

Clément M. Gosselin, Sylvain Lemieux
Proc. ASME. DETC93, 19th Design Automation Conference: Volume 1 — Mechanical System Dynamics; Concurrent and Robust Design; Design for Assembly and Manufacture; Genetic Algorithms in Design and Structural Optimization, 577-583, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0348
https://doi.org/10.1115/DETC1993-0348
View Paper titled, APPréCIE: A Computer Package for the Simulation and Design of Mechanical Grippers
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Topics: Computers, Design, Grippers, Simulation, Architecture, Computer-aided design, Computer programming, Databases, Kinematic analysis, Kinematics
Proceedings Papers

Manus Colobi: Preliminary Results on the Design of a Mechanical Hand for Industrial Applications

Clément M. Gosselin, Serge Montambault, Claude J. Gosselin
Proc. ASME. DETC93, 19th Design Automation Conference: Volume 1 — Mechanical System Dynamics; Concurrent and Robust Design; Design for Assembly and Manufacture; Genetic Algorithms in Design and Structural Optimization, 585-592, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0349
https://doi.org/10.1115/DETC1993-0349
View Paper titled, Manus Colobi: Preliminary Results on the Design of a Mechanical Hand for Industrial Applications
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Topics: Design, Mechanical hands, Design engineering, Kinematics, Robotics
Proceedings Papers

On the Determination of the Workspace of Complex Planar Robotic Manipulators

Rémi Ricard, Clément M. Gosselin
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 133-140, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0315
https://doi.org/10.1115/DETC1994-0315
View Paper titled, On the Determination of the Workspace of Complex Planar Robotic Manipulators
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Topics: Manipulators
Proceedings Papers

Kinematic Analysis of Spherical Two-Degree-of-Freedom Parallel Manipulators

Clément M. Gosselin, Caroline Cloutier, Denis Rancourt
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 255-262, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0330
https://doi.org/10.1115/DETC1994-0330
View Paper titled, Kinematic Analysis of Spherical Two-Degree-of-Freedom Parallel Manipulators
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Topics: Kinematic analysis, Manipulators, Kinematics, Degrees of freedom, Geometry, Jacobian matrices, Solar energy
Proceedings Papers

A New Algorithm for the Determination of the Workspace of Complex Planar Kinematic Chains

Pascal Lê-Huu, Clément M. Gosselin
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 853-860, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0112
https://doi.org/10.1115/DETC1995-0112
View Paper titled, A New Algorithm for the Determination of the Workspace of Complex Planar Kinematic Chains
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Topics: Algorithms, Kinematic chains, Manipulators, Kinematics, Topology
Proceedings Papers

A Comparison of Architectures of Parallel Mechanisms for Workspace and Kinematic Properties

Clement M. Gosselin, Rémi Ricard, Meyer A. Nahon
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 951-958, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0125
https://doi.org/10.1115/DETC1995-0125
View Paper titled, A Comparison of Architectures of Parallel Mechanisms for Workspace and Kinematic Properties
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Topics: Architecture, Kinematics, Parallel mechanisms, Manipulators, Optimization, Computer-aided design, Design, Kinematic analysis, Stiffness
Proceedings Papers

Inverse Kinematics of Serial Redundant Manipulators With Locked Articulations

Louis Perreault, Clément M. Gosselin
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 985-992, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0130
https://doi.org/10.1115/DETC1995-0130
View Paper titled, Inverse Kinematics of Serial Redundant Manipulators With Locked Articulations
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Topics: Kinematics, Redundant manipulators, Manipulators, Algorithms
Proceedings Papers

Modeling and Identification of Non-Geometric Parameters in Semi-Flexible Serial Robotic Mechanisms

Louise Cléroux, Clément M. Gosselin
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A015, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1563
https://doi.org/10.1115/96-DETC/MECH-1563
View Paper titled, Modeling and Identification of Non-Geometric Parameters in Semi-Flexible Serial Robotic Mechanisms
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Topics: Modeling, Robotics, Manipulators, Robots, Weight (Mass), Algorithms, Stress
Proceedings Papers

Kinematic Modeling of Underactuated Mechanical Grippers

Serge Montambault, Clément M. Gosselin
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A025, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1007
https://doi.org/10.1115/96-DETC/MECH-1007
View Paper titled, Kinematic Modeling of Underactuated Mechanical Grippers
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Topics: Grippers, Kinematics, Modeling, Design, Kinematic analysis, Mechanical hands
Proceedings Papers

Simulation and Design of Two-Degree-of-Freedom Underactuated Mechanical Fingers

Thierry Laliberté, Clément M. Gosselin
Proc. ASME. DETC-CIE96, Volume 2A: 24th Biennial Mechanisms Conference, V02AT02A038, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1562
https://doi.org/10.1115/96-DETC/MECH-1562
View Paper titled, Simulation and Design of Two-Degree-of-Freedom Underactuated Mechanical Fingers
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Topics: Design, Simulation, Grasping, Mechanical hands, Architecture, Shapes, Simulation results
Proceedings Papers

Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators

Jiegao Wang, Clément M. Gosselin
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A066, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1006
https://doi.org/10.1115/96-DETC/MECH-1006
View Paper titled, Kinematic Analysis and Singularity Loci of Spatial Four-Degree-of-Freedom Parallel Manipulators
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Topics: Kinematic analysis, Manipulators, Actuators, Algorithms, Design, Flight, Jacobian matrices, Kinematics, Robotics
Proceedings Papers

Analysis and Synthesis of Underactuated Force Generating Mechanisms

Clément M. Gosselin
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A061, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1564
https://doi.org/10.1115/96-DETC/MECH-1564
View Paper titled, Analysis and Synthesis of Underactuated Force Generating Mechanisms
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Topics: Actuators, Architecture, Manipulators
Proceedings Papers

Dynamic Analysis of Spatial Four-Degree-of-Freedom Parallel Manipulators

Jiegao Wang, Clément M. Gosselin
Proc. ASME. DETC97, Volume 2: 23rd Design Automation Conference, V002T29A006, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/DAC-3759
https://doi.org/10.1115/DETC97/DAC-3759
View Paper titled, Dynamic Analysis of Spatial Four-Degree-of-Freedom Parallel Manipulators
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Topics: Dynamic analysis, Manipulators, Algorithms, Virtual work principle
Proceedings Papers

Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms With Revolute Actuators

Jiegao Wang, Clément M. Gosselin
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A019, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5961
https://doi.org/10.1115/DETC98/MECH-5961
View Paper titled, Static Balancing of Spatial Six-Degree-of-Freedom Parallel Mechanisms With Revolute Actuators
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Topics: Actuators, Parallel mechanisms, Potential energy, Center of mass, Manipulators, Springs, Design