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Reymond Clavel
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Robotic Systems Laboratory 2
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Professeur Dr
nationality: CH
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office(s):
MEA3474
phone(s): [+41 21 69] 33821,33825
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MISSION
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The Laboratoire de Systèmes Robotiques 2 (LSRO2) under the direction of Prof. Reymond Clavel, is a multidisciplinary research and teaching unit working mostly in the fields of robotics, micro-robotics and high precision mechanisms. Its main domains of expertise are: *Conception of parallel and hybrid kinematics for robots and tool-machines, *Conception of robots with high speed, high dynamics and ultra high precision, *Conception of high precision mechanisms, *Conception of complex medical devices.
The research led by Reymond Clavel is organized in for groups: *High Precision Robotics (HPR) *Parallel Robotics Design (PRD) *Virtual Reality and Active Interfaces (VRAI) *Medical Devices and Biomechanisms (MDB).
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BIOGRAPHY
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Reymond CLAVEL obtained his degree in mechanical engineering at the Federal Institute of Technology of Lausanne (EPFL), Switzerland, in 1973. After nine years of gathered experience in industrial plants at Hermes Precisa International (research and development), he was appointed professor at the EPFL, where he obtained his PhD degree in parallel robotics in 1991. He was then consecutively entrusted with the following positions: Head of the department, Director of the Section of micro engineering and, in 1993, Director of the Laboratory of robotics systems (LSRO). His present research topics are parallel robotics, high speed and high precision robotics, medical and surgical robotics applications, surgical instrumentation and precision mechanisms.
Reymond Clavel’s research successes in parallel and industrial robotics received worldwide special mentions.
Awards :
1989: Laureate of the JIRA AWARD (Japan Industrial Robot Association) for the DELTA parallel robot invented in 1985.
1996: Project winner of the ”Technologiestandort Schweiz” competition and “ABB Sonderpreis” for the best robotics project.
1998: His laboratory is awarded the “Grand Prix de l’Innovation” in Monaco for new robot technologies.
1999: Laureate of the Golden Robot Award for the DELTA Robot.
2003: Each of his three different submitted projects received the Swiss Technology Award.
2005: Project winner of the “Swiss Technology Award” competition with further the “Sonderpreis 2005” from the Vontobel Foundation in the field of “Inventing the future”.
2006: Project winner of the “Swiss Technology Award” competition with “Quantum leap into world of nano-EDM” (a new high precision EDM machine based on the Delta kinematics).
2007: Two projects based on the LSRO’s researches are winner of the “Swiss Technology Award” competition: “Cyberthosis for paraplegia rehabilitation” (a collaboration with the company Swortec and the Fondation Suisse pour les Cyberthèses (FSC)) and the “Microfactory” realized in partnership with the CSEM .
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MAIN PUBLICATIONS
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New Variants of Delta Robots and Double-Tilt Platform for Assembly, R. Clavel, P. Pham, B. Lorent, B. Le Gall, M. Bouri, Invited paper, Proceedings of Robotic Systems for Assembly, 3rt International Colloquium of the Collaborative Research Center SFB 562, Braunschweig April 28-29, 2008
A complete manipulation platform for characterization of micro-components, C. Canales, F. Cosandier, G. Boetsch, V. Chatagny, J.H Lee, G. Bringout and R. Clavel, International Symposium on Optomechatronic Technologies (ISOT), San Diego, USA, 2008
Cyberthosis: Rehabilitation Robotics With Controlled Electrical Muscle Stimulation, P. Métrailler, R. Brodard, Y. Stauffer, R. Frischknecht, R. Clavel, Ch. 17, Book Rehabilitation Robotics, ISBN 978-3-902613-04-2, I-Tech Education and Publishing, August 2007
PocketFactory: a modular and miniature assembly chain including a clean environment, I. Verettas, R. Clavel, and A. Codourey, International Workshop on MicroFactories (IWMF), Tsukuba, Japon 2006
In situ micro gripper shaping by electro discharge machining, B. Lorent, M. Dafflon, C. Joseph, R. Clavel, International Symposium on Robotics (ISR), 2006
Calibration of the 6 DOF High-Precision Flexure Parallel Robot “SIGMA 6”, N. Fazenda, E. Lubrano, S. Rossopoulos, R. Clavel, Keynote Paper, 5th Chemnitz Parallel Kinematics Seminar, volume 33, Chemnitz 2006.
Improving the accuracy of the 5-axis parallel kinematics machine-tool Hita-STT (Stiffness Tracking Technology), H. Frayssinet, M. Forlani, D. Jeannerat, R. Clavel, 5th Chemnitz Parallel Kinematics Seminar, volume 33, Chemnitz 2006
Delta Thales, a Novel Archtecture for an Orienting Device with Fixed RCM (Remote Center of Movement) and Linear Movement in Direction of the RCM, P. Pham, Y-J. Regamey, R. Clavel, 5th Chemnitz Parallel Kinematics Seminar, volume 33, Chemnitz 2006
Characterization of an inertial micro gripper based on adhesion forces, M. Dafflon, B. Lorent, W. Driesen, and R. Clavel, In 5th International Wordshop on MicroFactories (IWMF'06), 2006
Orion MinAngle: A flexure-based, double-tilting parallel kinematics for ultra-high precision applications requiring high angles of rotation, P. Pham, Y.-J. Regamey, M. Fracheboud, R. Clavel, International Symposium on Robotics, 2005
High Precision Parallel Robots for Micro-Factory Applications, R. Clavel, P. Helmer, T. Niaritsiry, S. Rossopoulos, I. Verettas, 2nd International Colloquium of the Collaborative Research Center SFB 562, Braunschweig May 10-11, 2005
A surface-mounted device assembly technique for small optics based on laser reflow soldering, L.Stauffer, A.Würsch, B.Gächter, K.Siercks, I.Verettas, S.Rossopoulos, R.Clavel, Optical and Lasers in engineering 43, Elsevier 2005
Hita-STT, a new parallel five-axis machine tool, M. Thurneysen, R. Clavel, M. Bouri, H. Frayssinet, J. Giovanola, M. Schnyder, D. Jeannerat, 4th Chemnitz Parallel Kinematics Seminar, volume 24, Chemnitz 2004
Calibration of the 5-dof parallel kinematics HITA-STT, H. Frayssinet, M. Thurneysen, D. Jeannerat, and R. Clavel, 35th International Symposium on Robotics, 2004
High precision, low force 3D touch probe for measurements on small objects, F.Meili, M.Fracheboud, S.Bottinelli, M.Bieri, R.Thalmann, J-M.Breguet, R.Clavel, Proc. of International Topical Conference on Precision Engineering, Micro Technology, Measurement Techniques and Equipment, Vol. 2, EUSPEN, Aachen 2003
Flexures for high precision robotics, J-P.Bacher, C.Joseph, R.Clavel, Industrial Robot: An international Journal, Vol. 29 N° 4, Emerald 2002
Robots Parallèles, R.Clavel, R 7 710, Les Techniques de l’Ingénieur, 7 - 1994
Conception d'un robot parallèle rapide à 4 degrés de liberté, R.Clavel, Thèse N° 925, EPFL, 1991
Device for the Movement and positioning of an element in space, R.Clavel, EU patent N° 0250470, 17.07.1991, Priority data: 16.12.1985
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Finished PhD thesis at the LSRO2
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Mélanie Dafflon. Préhenseurs, conditions et stratégies pour une micromanipulation de précision. PhD thesis N°4160, Lausanne, EPFL 2008 ; dir. de thèse : Prof. R.Clavel.
Walter Driesen. Concept, modelling and experimental characterization of the modulated friction inertial drive (MFID) locomotion principle: application to mobile microrobots. PhD thesis No 4108, Lausanne, EPFL 2008; dir. de thèse: Dr J.-M. Breguet
Didier Guzzoni. Active : a unified platform for building intelligent applications. PhD thesis No 3990, Lausanne, EPFL 2008 ; dir. de thèse: Dr Ch. Baur.
Thierry Conus. Conception et optimisation multicritère des échappements libres pour montres-bracelets mécaniques. PhD thesis N°3806, Lausanne, EPFL 2007; dir. de thèse : Prof. R.Clavel.
Carl Schmitt. Orthèses fonctionnelles à cinématique parallèle et sérielle pour la rééducation des membres inférieurs. PhD thesis N° 3783, Lausanne, EPFL 2007; dir. de thèse : Prof. R.Clavel.
Robert Dunsch. Models for piezoelectric sensor-actuator systems. PhD thesis No 3894, Lausanne EPFL, 2007; dir. de thèse: Dr J.-M. Breguet.
Gaëtan Marti. Segmentation fémorale par modèle deformable et programmation dynamique. PhD thesis No 3833, Lausanne, EPFL 2007 ; dir. de thèse : Dr Ch. Baur.
Nuno R. Fazenda Carriço. Calibration of high-precision flexure parallel robots. PhD thesis N° 3712, Lausanne, EPFL 2006; dir. de thèse : Prof. R.Clavel.
Hélène Frayssinet Mazerolle. Méthode d'étalonnage d'une machine-outil à cinématique parallèle à cinq axes à grands angles d'inclinaison. PhD thesis N° 3702, Lausanne, EPFL 2006; dir. de thèse : Prof. R.Clavel.
Rodolfo Rabe. Compact test platform for in-situ indentation and scratching inside a scanning electron microscope (SEM). PhD thesis No 3593, Lausanne, EPFL 2006; dir. de thèse : Dr J.-M. Breguet and J. Michler.
Tiavina Niaritsiry. Optimisation de la conception du robot parallèle Delta cube de très haute précision. PhD thesis N° 3567, Lausanne, EPFL 2006; dir. de thèse : Prof. R.Clavel.
Irène Verettas. Microfabrique : méthodologie de conception de systèmes de production miniaturisés et modulaires, disposant d'un environnement salles blanches. PhD thesis N° 3549, Lausanne, EPFL 2006; dir. de thèse : Prof. R.Clavel.
Patrick Helmer. Conception systématique de structures cinématiques orthogonales pour la microrobotique. PhD thesis N° 3365, Lausanne, EPFL 2006; dir. de thèse : Prof. R.Clavel.
Cédric Joseph. Contribution à l'accroissement des performances du processus de μEDM par l'utilisation d'un robot à dynamique élevée et de haute précision. PhD thesis N° 3281, Lausanne, EPFL 2005; dir. de thèse : Prof. R.Clavel.
Patrick Métrailler. Système robotique pour la mobilisation des membres inférieurs d'une personne paraplégique. PhD thesis N° 3191, Lausanne, EPFL 2005; dir. de thèse : Prof. R.Clavel.
Markus Thurneysen. Méthode systématique de conception de cinématiques parallèles. PhD thesis N° 3009, Lausanne, EPFL 2004; dir. de thèse : Prof. R.Clavel.
Jean-Philippe Bacher. Conception de robots de très haute précision à articulation flexibles. PhD thesis N° 2907, Lausanne, EPFL 2003; dir. de thèse : Prof. R.Clavel.
Arvid Bergander. Control wear testing & integration of slick-slip micropositioning. PhD thesis No 2843, Lausanne, EPFL 2003 ; dir. de thèse : Dr J.-M. Breguet
Yves Bellouard. Conception de dispositifs en alliage à mémoire de forme en microtechnique. PhD thesis N° 2308, Lausanne, EPFL 2000; dir. de thèse : Prof. R.Clavel.
Simon Henein. Conception des structures articulées à guidages flexibles de haute précision. PhD thesis N° 2194, Lausanne, EPFL 2000; dir. de thèse : Prof. R.Clavel.
Marco Scussat. Assemblage bidimensionnel de composants optiques miniatures. PhD thesis N° 2179, Lausanne, EPFL 2000; dir. de thèse : Prof. R.Clavel.
Eric Pernette. Robot de haute précision à 6 degrés-de-liberté pour l'assemblage des microsystèmes. PhD thesis N° 1909, Lausanne, EPFL 1998; dir. de thèse : Prof. R.Clavel.
Lorenzo Flückiger. Interface pour le pilotage et l'analyse des robots basée sur un générateur de cinématiques. PhD thesis N° 1897, Lausanne, EPFL 1998; dir. de thèse : Prof. R.Clavel.
Jean-Marc Breguet. Actionneurs stick and slip pour micro-manipulateurs. PhD thesis N° 1756, Lausanne, EPFL 1998; dir. de thèse : Prof. R.Clavel.
Roger Baumann. Haptic interface for virtual reality based laparoscopic surgery training environment. PhD thesis N° 1734, Lausanne, EPFL 1997; dir. de thèse : Prof. R.Clavel.
Laurent E. Rey. Environnement pour la conception de commandes de robots. PhD thesis N° 1663, Lausanne, EPFL 1997; dir. de thèse : Prof. R.Clavel.
Wolfgang H. F. Andreasch. Konzeption und Entwicklung einer Technologie zur automatisierten Oberflächenmontage optischer Elemente (optical SMD). PhD thesis N° 1591, Lausanne, EPFL 1996; dir. de thèse : Prof. R.Clavel.
P. Vischer. Improving the accuracy of parallel robots. PhD thesis N° 1570, Lausanne, EPFL 1996; dir de thèse : Prof. R.Clavel.
Federico Sternheim. Modélisation en quatre dimensions d’une installation de production. PhD thesis N° 869, Lausanne, EPFL 1990; dir. de thèse : Prof. R.Clavel.
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| Skills |
Parallel robots
High precision robotics
Surgical instrumentation |
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| Teaching |
Microengineering
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| Phd programs |
- Manufacturing Systems and Robotics
- Computer, Communication and Information Sciences
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| Phd Students |
Cosandier Florent
Kobel Philipp
Richard Murielle
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