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

• Published in: Automation 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
• Language: English
• 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

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...