Implementation of a foldable 3-DOF master device to a glass window panel fitting task

We propose a new spatial 3-degree of freedom (DOF) parallel type master device that has an explicit forward kinematic solution. Most of the fully parallel mechanisms rarely have a unique forward solution, which is very useful for the force-feedback of a master device. This system provides a useful f...

Full description

Saved in:
Bibliographic Details
Published inAutomation in construction Vol. 19; no. 7; pp. 855 - 866
Main Authors Chung, Jaeheon, Lee, Sang Heon, Yi, Byung-Ju, Kim, Whee Kuk
Format Journal Article
LanguageEnglish
Published Kidlington Elsevier B.V 01.11.2010
Elsevier
Subjects
Applied sciences
Buildings
Buildings. Public works
Computation methods. Tables. Charts
Construction
Construction equipments
Construction works
Devices
Exact sciences and technology
External envelopes
Fittings
Glass
Glass fitting task
Haptic device
Master–slave system
Materials handling
Opening. Closure. Circulation (stairs, etc.)
Panels
Parallel robot
Simulation
Structural analysis. Stresses
Tasks
Haptic device
Glass fitting task
Master–slave system
Parallel robot
Freedom degree
Fitting
Window glazing
Master slave relationship
Specification
Windows
Modeling
Implementation
Robotics
Master-slave system
Parallel system
System description
Kinematics
Online AccessGet full text

Cover

More Information
Summary:We propose a new spatial 3-degree of freedom (DOF) parallel type master device that has an explicit forward kinematic solution. Most of the fully parallel mechanisms rarely have a unique forward solution, which is very useful for the force-feedback of a master device. This system provides a useful folding feature making it easy to carry. The master–slave system employing the new master device is applied to the task of fitting a large glass window panel at a construction site. Glass handling is very delicate since glass is brittle and tends to be one of the heaviest materials at a construction site; the force reflection scheme is employed to protect the glass from breakage. The performance of the master device is verified by a hardware-in-the-loop simulation. The simulation system consists of a real master device and virtual glass handling equipment. The simulation shows that the contact force between the glass and the environment is thoroughly reflected to the master device.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:0926-5805
1872-7891
DOI:10.1016/j.autcon.2010.05.004