Analysis and design study of LCD transfer robot using dynamic simulation and experiment

Abstract

Recently, the size of raw glass has been greatly increased in the new generation Liquid Crystal Display (LCD) technology. To handle bigger and heavier glasses, it is necessary to develop a large scale LTR (LCD Transfer Robot) to support various complicated LCD fabrication processes. This adjustment will result in difficult design problems such as vibration, handling accuracy deterioration, and high stress due to heavier dynamic loads. In turn, these will result in inaccurate transfer motion and fatigue cracks.In this paper, the dynamic simulation technique is introduced to validate a baseline design and to propose new and improved designs for the best performance of heavy-scaled LCD transfer robots. The dynamic models and analysis results were verified by real experiments including strain measure test and motor power test. Using the verified simulation model, some dynamic situations such as the robot's emergency stop and free fall situation, which were not impossible to test using the real proto robot, were analyzed and predicted using the simulation model.

High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment

“…In the production of display panels, glass substrates need to be transferred to different environments several times for processing, including strong acidic and alkaline environments, high temperature environments, and other harsh environments [ 1 , 3 ]. Therefore, the handling robot not only ensures accuracy of the operation to prevent damages, but also avoids excessive harm to the operator [ 4 , 5 , 6 , 7 ].…”

“…In order to be lightweight, modular, reconfigurable, and intelligent, the robot structure and control algorithms are continuously improved and optimized through previous product designs and production practice experience [ 6 , 15 ]. Quite a few companies have designed and produced their own series of glass substrate handling robots [ 16 , 17 ], such as Yaskawa’s MOTOMAN-MFL2200 [ 18 , 19 ], Daihen’s SPR-8573 [ 20 ], Sankyo’s column offset configuration handling robot [ 21 ], Robostar’s AFDH1L629-545, and the cylindrical handling robot by Dalian University of Technology [ 22 ].…”

Vibration Control of Flexible Mode for a Beam-Type Substrate Transport Robot

“…Hwang et al [2] proposed error compensation methods for the static deflection caused by the flexibility of the arm and fork in liquid crystal display (LCD) transfer robots (LTRs). Seo et al [3][4][5] presented analysis and simulation methods for LTRs to predict their flexible mode dynamics. However, methods to reduce the residual vibration of beam-type robots have not been adequately studied from the point of view of their trajectory.…”

Backward-motion control of a mobile robot with n passive off-hooked trailers

“…A robot can achieve reconfigurability and extensibility by using modular trailers. Mobile robots are receiving considerable attention as shown in recent publications [2][3][4].…”