Implementation of a Foldable 3 DOF Master Device to Handle a Large Glass Plate > International Conference

Implementation of a Foldable 3 DOF Master Device to Handle a Large Glass Plate

Conference: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

Author: J. Chung, J.-T. Seo, B.-J. Yi, W. K. Kim, and S.-H. Lee

Year: 2009

Date: 2009.10.31

File: Implementation of a Foldable 3 DOF Master Device to Handle a Large Glass Plate.pdf (572.1K) 0회 다운로드 DATE : 2020-10-19 22:33:48

Link: https://ieeexplore.ieee.org/abstract/document/5354186 493회 연결

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.

Publication

Hanyang University HumanRobotics Lab

Implementation of a Foldable 3 DOF Master Device to Handle a Large Glass Plate