Publications by Reymond Clavel

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This work deals with the kinematic conception and the mechanical design of ultra-high precision robots, which are at present costly to develop, both in time and money. The aim of this paper is thus to introduce a new modular concept of kinematics which all ...

A micromanipulation setup allowing comparative tests of manipulation micro tools has been developed. Repeatability measurements of positioning as well as optimization of manipulation conditions can be run with parts of typically 5 to 50μm over a large set of parameters including environment conditions, substrate and tip specifications, and different strategies (robot trajectories at picking and releasing time). The workstation consists of a high precise parallel robot, the Delta3, to position the gripper, l

The manipulation and assembly of microsystems (MEMS) require accurate robots operating in a clean room environment. Available systems require usually large ground surface for small components and are bulky. Furthermore it is difficult to move it to another place. The main objective of the 'Pocket-factory' project is to develop miniaturized and modular clean production units for microsystems and establish a data base of needs and available accessories to quickly set up a production chain.

Minimally invasive surgeries on the lungs have eliminated the ability for surgeons to place their hands on the patient's organ to feel for abnormalities. Therefore, in this paper, a force sensor for 2 degrees of freedom haptic applications is described. It ...

From a shape change point of view, the shape memory effect is not intrinsically reversible. Therefore developing Shape Memory Alloys (SMA) actuators, i.e. devices producing a motion, requires a suitable method to bypass this intrinsic property. Since the shape memory effect discovery, different methods, either intrinsic like the «Two-Way Shape Memory Effect » or extrinsic like the use of a biasing element have been investigated. In this paper, a new method based on a local annealing of the material is prese

This paper starts by presenting several examples of original flexible bearings and flexible articulated structures having 1 to 6 degrees of freedom to illustrate how flexures can soundly be used in high precision robotics. Then, the influence of the electrodischarge machining process of the joint's surfaces is discussed. Finally, an original setup for the fatigue testing of small flexures is briefly described.

Robots are excellent tools for providing motion. Their motion is precise, stiff and as repeatable as needed. This led the Swiss Foundation for Cyberthosis (SFC) to exploit robotics jointly with the muscle electrostimulation as intelligent rehabilitation de ...

Robotic assistive devices have been developed and are now being introduced in clinical environments. Such robots can advantageously provide long raining, with quantifiable mobilization (force and position). But in the event of a complete lesion the patient’s muscles remain completely passive. To overcome that issue electrical muscle stimulation can be employed. The complex nature of the muscles associated to the dynamics of walking, require subtle stimulation schemes which rely on position and force informa

Generally the classical control architecture used to carry out a robot position control is based on a classical industrial motion planner that needs encoders cabling and analog cabling to insure the regulation loop. This work proposes a Profibus PC based control architecture that has a double-originality. The first originality concerns the hardware architecture and the second concerns the software flexibility that allows easiness in implementation, either modification, for controlling parallel robots. The h

Pelvic motions are of great importance while walking, and have thus to be taken into account when developing and controlling rehabilitation devices. This paper will first introduce a new reeducation devices for paraplegic people: the WalkTrainer. This devi ...

An external manipulator for positioning surgical instruments within the abdominal cavity, comprising a hybrid kinematics with a parallel structure, able to provide four, active or passive, positional degrees of freedom to a endoscopic unit, placed in the d ...

A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several ...

Les interventions chirurgicales par voie minimale invasive nécessitent la manipulation précise de plusieurs instruments dans une zone relativement étroite. Particulièrement en neurochirurgie, la présence d'une 3ème main robotisée est une aide précieuse pour assister le chirurgien à positionner ses outils et en particulier l’endoscope. Ce projet à pour but de concevoir un nouveau robot à 6 degrés de libertés sur la base d'une structure Trilame à lames flexibles.

This paper introduces a new concept of modular flexure-based mechanisms to design industrial ultra-high precision robots, which aims at significantly reducing both the complexity of their design and their development time. This modular concept can be consi ...

This paper describes a detailed study of the behavior of the parallel spring stage having four circular flexure hinges of very thin cross-sections manufactured by wire electro-discharge machining. The state of the art recalls the abundant literature published on the parallel leaf spring stage, and presents the few articles found dealing with the parallel spring stages. The theoretical modeling for the calculation of the linear stiffness of the parallel spring stage is described. The starting point of the di

Mon travail a deux objectifs. Le premier consiste à réaliser un être humain virtuel pour visualiser la marche afin de faciliter l’analyse et la visualisation. Le deuxième objectif est le contrôle de l’articulation du genou en couple en utilisant le modèle du muscle développé par Patrick Métrailler. La différence de mesures réels et virtuelles est à minimiser pour que le modèle puisse être utilisé comme environnement de simulation avant de passer au test avec des êtres humains.

Adhesive forces become predominant in the micro world comparing to the gravity effect implying the development of new micro manipulation strategies. This paper presents the design and conception of a gripper that use the inertial principle for the release (applying a high acceleration, in the order of 10’000g) and the adhesion for catching a micro part of 50μm with the goal of precisely control the position after release. Experiments were conducted and showed a positioning repeatability of 2μm to 6μm depend

While dealing with sub-micrometer precision robots, thermal expansion is the most significant source of inaccuracy. Thermal variations in the environment, in the robot parts and in the frame change the robot geometry, lowering the robot precision. In this ...

In the way of developing fast parallel robots, the following work proposes a development of a new delta robot. This robot is a 3 d.o.f. parallel robot based on a Delta-like kinematics [Clavel 88, 92]. It is actually an inverted Delta in which the parallel bars are inverted towards the basis. There are two principal advantages of this structure. The first is that there is less links between the actuators and the support basis. The second concerns the fact that end- effector naturally moves without changing t

Reymond Clavel

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A new concept of modular kinematics to design ultra-high precision flexure-based robots

A micromanipulation setup for comparative tests of microgrippers

PocketFactory : a modular and miniature assembly chain including a clean environment

Design, manufacturing and implementation of a novel 2-axis force sensor for haptic applications

Laser annealing of shape memory alloys : A versatile tool for developing smart micro-devices

Articulated structures with flexible joints dedicated to high precision robotics

Cyberthèse. Mise en oeuvre d'un nouveau concept de rééducation pour paraplégiques

A novel verticalized reeducation device for spinal cord injuries, the WalkTrainer: from design to the clinical trials

Profibus PC based motion control with application to a new 5 axes parallel kinematics

Pelvic motion measurement during over ground walking, analysis and implementation on the WalkTrainer reeducation device

Mechanical positioning system for surgical instruments

Mechanical manipulator for surgical instruments

Porte endoscope à lames flexibles: Trilame

Concept of modular flexure-based mechanisms for ultra-high precision robot design

Parallel spring stages with flexures of micrometric cross-sections

Concept of modular flexure-based mechanisms for ultra-high precision robot design

Environnement de réalité virtuelle pour la rééducation de paraplégiques

Characterization of an inertial micro gripper based on adhesion forces

Thermal Calibration of a 3 DOF Ultra High-Precision Robot Operating in Industrial Environment

Towards a new Delta robot: an inverted Delta