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

机译:改善第七代液晶玻璃传输机器人的路径精度

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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.
机译:7G LTR(第7代LCD传输机器人)是能够运输第7代LCD玻璃(1870x2200mm)的机器人。本文介绍了7G-LTR的规格和性能。机器人需要精确的路径精度,以提高玻璃盒的堆叠效率,这会影响LCD工厂的生产率。本文提出了一种通过运动补偿静态挠度来提高路径精度的方法。首先介绍了7G-LTR及其要求。接下来,提出了机械臂的运动模型,包括静态挠度和完整的运动学分析。最后,提出了提高路径精度的方法,并解决了其优化问题。已经进行了各种测试以证明所提出的方法的有效性和可行性。

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