TY - GEN
T1 - Dynamic modeling of Glass Substrate Transfer Robot arm system by using 5-revolute joints manipulator modeling method
AU - Jegal, Minsu
AU - Kim, Tae Hyun
AU - Hong, Seok Hyun
AU - Yang, Hyun Seok
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:84872548503
SN - 9781467322478
T3 - International Conference on Control, Automation and Systems
SP - 684
EP - 687
BT - ICCAS 2012 - 2012 12th International Conference on Control, Automation and Systems
T2 - 2012 12th International Conference on Control, Automation and Systems, ICCAS 2012
Y2 - 17 October 2012 through 21 October 2012
ER -