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 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.