한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제25권6호
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  • Pages.498-503
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  • 2016
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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8.5G 솔라셀 평판 핸들링 로봇의 진동 제어

Vibration Analysis of the Large Substrate Handling Robot

  • Park, Dong Il (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials(KIMM)) ;
  • Park, Cheolhoon (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials(KIMM)) ;
  • Park, Chanhun (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials(KIMM)) ;
  • Kim, Doohyung (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials(KIMM))
  • 투고 : 2016.10.14
  • 심사 : 2016.11.21
  • 발행 : 2016.12.15
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초록

Many types of robot systems are used in the mass production line of thin film solar cells and flat panel displays. There are some issues such as the deflection and the vibration of the end-effector because robots handle large and heavy substrates at high speed. Heavy payload and high speed cause much vibration because the end-effector (fork) is made of carbon fiber reinforced polymer because of its light weightiness and sufficient stiffness. This study performs a dynamic simulation of an 8.5G solar cell substrate handling robot, including rigid and flexible bodies and a vibration controller. The fifth polynomial trajectory and the zero vibration derivative input shaping algorithm are applied. The vibration reduction is also proved in the experiments.

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참고문헌

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피인용 문헌

  1. Lightweight Design of a Vacuum Gripper for Inspection Equipment Using Topology Optimization vol.38, pp.9, 2016, https://doi.org/10.7736/jkspe.021.051