Abstract
The development of “large display, high performance and low cost” in the FPD industry demands glass substrates to be “larger and thinner”. Therefore, the requirements of handling robots are developing in the direction of large scale, high speed, and high precision. This paper presents a novel construction of a glass substrate handling robot, which has a 2.5 m/s travelling speed. It innovatively adopts bionic end-suction technology to grasp the glass substrate more firmly. The structure design is divided into the following three parts: a travel track, a robot body, and an end-effector. The manipulator can be smoothly and rapidly extended by adjusting the transmission ratio of the reducer to 1:2:1, using only one motor to drive two sections of the arm. This robot can transfer two pieces of glass substrate at one time, and improves the working efficiency. The kinematic and dynamic models of the robot are built based on the DH coordinate. Through the positioning accuracy experiment and vibration experiment of the end-effector, it is found that the robot has high precision during handling. The robots developed in this study can be used in large-scale glass substrate handling.
Highlights
In an information-based society, display panels have become ubiquitous
There are the following three configurations of glass substrate handling robots commonly used in the flat panel display (FPD) industry, classified by coordinate forms: vertical multijoint configuration, planar multi-joint configuration, and cylindrical coordinate configuration, as shown in Figure 1 [8]
Cylindrical coordinate configuration usually has three degrees of freedom, simple and intuitive motion, high rigidity, and mechanism precision. It can achieve a larger working space with a more compact structure, which is suitable for Sensors 2022, 22, 149 precision. It can achieve a larger working space with a more compact structure, which is suitable for high-speed, high-precision, and large-generation glass substrate handling robot design [10]
Summary
In an information-based society, display panels have become ubiquitous. With the rapid development of IT and flat panel display (FPD) industries, the market demand for display panels keeps increasing [1]. There are the following three configurations of glass substrate handling robots commonly used in the FPD industry, classified by coordinate forms: vertical multijoint configuration, planar multi-joint configuration, and cylindrical coordinate configuration, as shown in Figure 1 [8]. Cylindrical coordinate configuration usually has three degrees of freedom, simple and intuitive motion, high rigidity, and mechanism precision. It can achieve a larger working space with a more compact structure, which is suitable for. It can achieve a larger working space with a more compact structure, which is suitable for high-speed, high-precision, and large-generation glass substrate handling robot design [10].
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