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
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering 한국정밀공학회지 Vol.30 No.9
- 발행연도
- 2013.9
- 수록면
- 909 - 913 (5page)
이용수
초록· 키워드
오류제보하기
Various types of large substrate handling robots are used in the thin file solar cell manufacturing line as well as LCD or PDP production line. Because the robot handles the heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. As the substrate becomes larger and heavier, robot systems are also larger and the vibration issue of the robot end-effector becomes more important. In the paper, we established the robot modeling and the control architecture including the flexible part such as forks. Then, we performed dynamic simulation in the various condition and analyzed the characteristics of the fork vibration. We can reduce the vibration using the trajectory planning and input shaping algorithm and it was proved by experiment.
목차
1. 서론
2. 로봇 모델링
3. 시뮬레이션
4. 실험
5. 결론
참고문헌
참고문헌 (12)
참고문헌 신청
Jong Hwi Seo / 2008 / DYNAMIC LOAD ANALYSIS AND DESIGN METHODOLOGY OF LCD TRANSFER ROBOT / Journal of Mechanical Science and Technology 22(4):722~730
서종휘 / 2009 / Analysis and design study of LCD transfer robot using dynamic simulation and experiment / Journal of Mechanical Science and Technology 23(4):1035~1039
Surdilović, D. / 1996 / Deflectioncompensation for large flexible manipulators / Mechanism and Machine Theory 31(3):317~329
Park, C. / 2010 / Controller design andmotion simulation of solar cell substrate handlingrobot in vacuum environment
Park, D. / 2011 / Dynamic analysis of beam type substrate handlingrobot in solar cell manufacturing / The 8thInternational Conference on Ubiquitous Robots andAmbient Intelligence :794~795
서종휘 / 2009 / Analysis and design study of LCD transfer robot using dynamic simulation and experiment / Journal of Mechanical Science and Technology 23(4):1035~1039
Surdilović, D. / 1996 / Deflectioncompensation for large flexible manipulators / Mechanism and Machine Theory 31(3):317~329
Park, C. / 2010 / Controller design andmotion simulation of solar cell substrate handlingrobot in vacuum environment
Park, D. / 2011 / Dynamic analysis of beam type substrate handlingrobot in solar cell manufacturing / The 8thInternational Conference on Ubiquitous Robots andAmbient Intelligence :794~795
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