Abdennasser Fakri

Institut National des Sciences Appliquées de Lyon

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About

Abdennasser Fakri is a pioneering figure in the field of precision robotic assembly, with a focused expertise in passive compliant mechanisms. His primary research centers on the design, geometric modeling, and kinematic analysis of specialized devices that enable robots to perform high-tolerance assembly tasks, such as inserting a peg into a chamfered hole. Fakri’s most notable contribution is the development of the DCR-LAI system, an original passive compliant device featuring two distinct rotation centers. This innovation addresses the critical challenge of accommodating positional errors during automated assembly without active sensing or complex control. His foundational work, "Geometric model of the DCR-LAI compliant device" (1989), which has garnered 6 citations, provides a rigorous mathematical framework for understanding the device’s behavior. Earlier, his comprehensive thesis, "Conception, modélisation et simulation de la structure compliante passive DCR pour robot d'assemblage" (1985), established the state of the art and offered a novel classification of assembly operations. While his citation counts are modest, Fakri’s work is a cornerstone in the niche domain of passive compliance, directly influencing the design of robust, cost-effective robotic systems for precision manufacturing.