Implementation of a foldable 3-DOF master device to a glass window panel fitting task

Abstract

We propose a new spatial 3-degree of freedom (DOE) 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. (C) 2010 Elsevier B.V. All rights reserved.