Implementation of a foldable 3 DOF master device to handle a large glass plate

Implementation of a foldable 3 DOF master device to handle a large glass plate

This paper proposes a new spatial 3-DOF parallel mechanism with a unique forward kinematic solution. Using the Scott mechanism as its sub-chain, the mechanism is foldable, which is useful for design of a compact-sized master device. The kinematics of this mechanism is derived and its kinematic chara...

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Hauptverfasser: Jaeheon Chung, Jong Tae Seo, Byung-Ju Yi, Whee Kuk Kim, Sang Heon Lee
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Computer science
Glass
Industrial training
Intelligent robots
Kinematics
Leg
Productivity
Robotics and automation
Testing
USA Councils
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Beschreibung
Zusammenfassung:This paper proposes a new spatial 3-DOF parallel mechanism with a unique forward kinematic solution. Using the Scott mechanism as its sub-chain, the mechanism is foldable, which is useful for design of a compact-sized master device. The kinematics of this mechanism is derived and its kinematic characteristics are analyzed in terms of workspace and kinematic isotropy. The mechanism was implemented and tested as a master device to control a virtual construction robot handling a large glass plate.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354186