지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 684 - 687 (4page)
이용수
초록· 키워드
오류제보하기
Due to the growth of the Flat Panel Display (FPD) industry and the Thin Film Solar-cell industry, high performance of Glass Substrate Transfer Robot(GTR) is required. For a precise handling of the glass substrate with high speed, it is very important to reduce meandering of the end of robot hand. Meandering along the path of the GTR can be affected by the deflection of vertical axis structure and elasticity of arm belts. Therefore in order to predict the meandering, dynamic modeling for GTR system with torsion of vertical axis structure and elasticity of arm belts is required. This paper proposes a modeling method for GTR system using 5-revolute joints. The GTR system is considered to be a 5-revolut joints and 5-link system, applying torque transmissiion model for each joint. The proposed model is compared with the actual path of the end of robot hand which was obtained by real-world experiment, in order to verify that the proposed GTR system is valid.
목차
Abstract
1. INTRODUCTION
2. MODELING OF BELT PULLEY SYSTEM
3. MODELING OF VERTICAL AXIS STRUCTURE DEFORMATION
4. ROBOT ARM MODELING
5. SIMULATION & EXPERIMENT
5. CONCLUSIONS
REFERENCES
참고문헌 (0)
참고문헌 신청이 논문의 저자 정보
최근 본 자료
댓글(0)
0