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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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 741 - 747
Main Authors Jaeheon Chung, Jong Tae Seo, Byung-Ju Yi, Whee Kuk Kim, Sang Heon Lee
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Computer science
Glass
Industrial training
Intelligent robots
Kinematics
Leg
Productivity
Robotics and automation
Testing
USA Councils
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Summary: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.
ISBN:9781424438037
1424438039
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354186