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Implementation of a foldable 3 DOF master device to handle a large glass plate
- Issue Date
- Oct-2009
- Publisher
- IEEE
- Keywords
- Virtual construction; Glass plate; Parallel mechanisms; Mechanisms; Machine design; Glass; Kinematics; Forward kinematics; Kinematic characteristics; Intelligent robots
- Citation
- IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp 741 - 747
- Pages
- 7
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE/RSJ Int. Conf. Intelligent Robots and Systems
- Start Page
- 741
- End Page
- 747
- ISSN
- 2153-0858
2153-0866
- 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. © 2009 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)