Title :
Implementation of a foldable 3 DOF master device to handle a large glass plate
Author :
Chung, Jaeheon ; Seo, Jong Tae ; Yi, Byung-Ju ; Kim, Whee Kuk ; Lee, Sang Heon
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Ansan, South Korea
Abstract :
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.
Keywords :
construction equipment; industrial robots; materials handling equipment; plates (structures); robot kinematics; 3-DOF parallel mechanism; compact-sized master device; kinematic isotropy; large glass plate; virtual construction robot; Computer science; Glass; Industrial training; Intelligent robots; Kinematics; Leg; Productivity; Robotics and automation; Testing; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354186
