Improvement of the path accuracy of the 7th generation lcd glass transfer robot

摘要

The 7G LTR (7th generation LCD Transfer Robot) is the robot that is capable of transport the 7th generation LCD glass (1870x2200mm). This paper described a specification and performance of the 7G-LTR. The robot needs precise path accuracy to improve stack efficiency of glass cassette which affects the productivity of LCD plant. This paper presented a method of improving the path accuracy by kinematic compensation for the static deflection. Firstly, the 7G-LTR and its requirements were introduced. Next, the robot arm's kinematic model including the static deflection and the complete kinematic analysis were presented. Finally, the method of improving the path accuracy was provided and its optimization problem was solved. Various tests have been conducted to demonstrate the validity and feasibility of the proposed method.