Marc Arsenault

Marc Arsenault

Associate Professor

Bharti School of Engineering
Science, Engineering and Architecture
F-217D, Science Building Sudbury Campus

Biography


Education

  • 2006, Ph.D. (Mechanical Engineering)
    Université Laval, Québec, Québec, Canada
  • 2003, M.A.Sc. (Mechanical Engineering)
    Université de Moncton, Moncton, New Brunswick, Canada
  • 2002, B.A.Sc. (Mechanical Engineering - COOP)
    Université de Moncton, Moncton, New Brunswick, Canada

Academic Appointments

  • 2013-present, Associate Professor, Bharti School of Engineering, Laurentian University, Sudbury, Ontario, Canada
  • 2010 to 2013, Associate Professor, Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada
  • 2006 to 2010, Assistant Professor, Department of Mechanical and Aerospace Engineering, Royal Military College of Canada, Kingston, Ontario, Canada

On The Web

Research

My research interests lie in the field of robot mechanics.  Within this field, most recent work has been aimed at the development, analysis and synthesis of cable-based robots.  The interest in this type of robot is largely motivated by the fact that cables allow for a reduction in the inertia of a robot’s moving parts thus allowing higher acceleration motions to be performed.  Moreover, cable-based robots are easily scalable and often benefit from relatively large reachable workspaces.  Several new robot architectures have been developed and analyzed to assess their performance on the basis of their workspace, stiffness and dynamic characteristics.  Other recent research projects have involved the trajectory planning of hydraulic machinery in the content of semi-automation efforts.

Awards

  • Best paper award, Transactions of the Canadian Society for Mechanical Engineering, 2007.

Teaching

ENGR-2506: Dynamics
ENGR-3516: Vibrations and dynamic systems
ENGR-3546: System modeling and simulation

Publications

Articles published in refereed journals:

1. Marc Arsenault (2018).  Design of variable radius drum mechanisms.  Mechanism and Machine Theory, 129: 175-190.

2. Louis-Francis Tremblay, Marc Arsenault and Meysar Zeinali (2018).  Simplification of the dynamic model of a hydraulic rockbreaker for implementation in a model-based control scheme.  Transactions of the CSME, 41(1): 38-48.

3. Marc Arsenault (2013).  Workspace and stiffness analysis of a three-degree-of-freedom spatial cable suspended parallel mechanism while considering cable mass.  Mechanism and Machine Theory, 66: 1-13.

4. Sam Chen, Marc Arsenault and Kodjo Moglo (2012).  Design of a mechanism to simulate the quasi-static moment-deflection behaviour of the osteoligamentous structure of the C3-C4 cervical spine segment in the flexion-extension and lateral bending directions.  Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine, 226(11): 817-826.

5. Sam Chen and Marc Arsenault (2012).  Analytical computation of the actuator and Cartesian workspace boundaries for a planar 2-degree-of-freedom translational tensegrity mechanism. ASME Journal of Mechanisms and Robotics, 4(1): 011010-1-011010-8.

6. Chris Mohr and Marc Arsenault (2011).  Kinematic analysis of a translational 3-DoF tensegrity mechanism.  Transactions of the CSME, 35(4): 573-584.

7. Marc Arsenault (2011).  Stiffness analysis of a 2-DoF planar tensegrity mechanism.  ASME Journal of Mechanisms and Robotics, 3(2): 021011-1-021011-8.

8. Marc Arsenault (2010).  Determination of the analytical workspace boundaries of a novel 2-DoF planar tensegrity mechanism.  Transactions of the CSME, 34(1): 75-91.

9. Marc Arsenault and Clément M. Gosselin (2009).  Kinematic and static analysis of a 3-PUPS spatial tensegrity mechanism.  Mechanism and Machine Theory, 44(1): 162-179.

10. Marc Arsenault and Clément M. Gosselin (2008).  Kinematic and static analysis of a 3-DoF spatial modular tensegrity mechanism.  International Journal of Robotics Research, 27(8): 951-966.

11. Marc Arsenault and Clément M. Gosselin (2007).  Static balancing of tensegrity mechanisms.  ASME Journal of Mechanical Design, 129(3): 295-300.

12. Marc Arsenault and Clément M. Gosselin (2006).  Kinematic, static and dynamic analysis of a spatial three-degree-of-freedom tensegrity mechanism.  ASME Journal of Mechanical Design, 128(5): 1061-1069.

13. Marc Arsenault and Clément M. Gosselin (2006).  Kinematic, static and dynamic analysis of a planar 2-DoF tensegrity mechanism.  Mechanism and Machine Theory, 41(9): 1072-1089.

14. Marc Arsenault and Roger Boudreau (2006).  Synthesis of planar parallel mechanisms while considering workspace, dexterity, stiffness and singularity avoidance.  ASME Journal of Mechanical Design, 128(1): 69-78.

15. Marc Arsenault and Clément M. Gosselin (2005).  Dynamic simulation of a spatial 3-DoF tensegrity mechanism.  Transactions of the CSME, 29(4): 491-505.

16. Marc Arsenault and Clément M. Gosselin (2005).  Kinematic, static and dynamic analysis of a planar 1-DoF tensegrity mechanism.  ASME Journal of Mechanical Design, 127(6): 1152-1160.

17. Marc Arsenault and Roger Boudreau (2004).  The synthesis of three-degree-of-freedom parallel mechanisms with revolute joints (3-RRR) for an optimal singularity-free workspace.  Journal of Robotic Systems, 21(5): 259-274.


Articles published in refereed conference proceedings:

1. L.-F. Tremblay, M. Arsenault and M. Zeinali (2017).  Simplification of the dynamic model of a hydraulic rockbreaker for the purpose of implementation in a model-based control scheme.  Proceedings of the 2017 CCToMM M3 Symposium, Montréal, QC.

2. C. Mohr and M. Arsenault (2016). Design and fabrication of a functional prototype for a 3-DoF translational tensegrity robot.  Proceedings of the CSME International Congress, Kelowna, BC.

3. Marc Arsenault (2012).  Stiffness analysis of a planar 2-DoF cable-suspended mechanism while considering cable mass.  Proceedings of the First International Conference on Cable-Driven Parallel Robots, Stuttgart, Germany, pp. 405-421.

4. Chris Mohr and Marc Arsenault (2011).  Kinematic analysis of a translational 3-DoF tensegrity mechanism.  Proceedings of the 2011 CCToMM Symposium on Mechanisms, Machines, and Mechatronics (2011 CCToMM M3), Montréal, Québec, Canada.

5. Sam Chen and Marc Arsenault (2010).  Workspace computation and analysis of a planar 2-DoF translational tensegrity mechanism.  Proceedings of the 2010 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), Montréal, Québec, Canada.

6. Marc Arsenault (2010).  Optimization of the prestress stable wrench closure workspace of planar parallel three-degree-of-freedom cable-driven mechanisms with four cables.  Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, USA.

7. Marc Arsenault (2008).  Stiffness analysis of a 2-DoF planar tensegrity mechanism.  Proceedings of the 2008 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), New York, New York, USA.

8. Marc Arsenault (2008).  Kinematic analysis of a novel 2-DoF planar tensegrity mechanism.  Proceedings of the 2008 CSME Forum, Ottawa, Ontario, Canada.

9. Marc Arsenault and Clément M. Gosselin (2006).  Kinematic and static analysis of a planar modular 2-DoF tensegrity mechanism.  Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, USA.

10. Marc Arsenault and Clément M. Gosselin (2005).  Static balancing of tensegrity mechanisms.  Proceedings of the 2005 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2005), Long Beach, California, USA.

11. Marc Arsenault and Clément M. Gosselin (2005).  Dynamic simulation of a spatial 3-DoF tensegrity mechanism.  Proceedings of the 2005 CCToMM Symposium of Mechanisms, Machines, and Mechatronics (2005 CCToMM M3), Montréal, Québec, Canada.

12. Marc Arsenault and Clément M. Gosselin (2004).  Development and analysis of a planar 1-DoF tensegrity mechanism.  Proceedings of the 2004 CSME Forum, London, Ontario, Canada.

13. Marc Arsenault and Roger Boudreau (2004).  The synthesis of a general planar parallel manipulator with prismatic joints for optimal stiffness.  Proceedings of the 11th World Congress in Mechanism and Machine Science (IFToMM), Tianjin, China.

14. Marc Arsenault and Roger Boudreau (2003).  The synthesis of three-degree-of freedom planar parallel manipulators with revolute joints (3-RRR) for an optimal singularity free workspace.  Proceedings of the 2003 CCToMM Symposium of Mechanisms, Machines, and Mechatronics (2003 CCToMM M3), Montréal, Québec, Canada.