Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지
DOI QR코드

DOI QR Code

Vibration Control of the Hybrid Type Solar Cell Substrate Handling Robot

하이브리드 타입 솔라셀 기판 이송용 로봇 진동 제어

  • Park, Dong Il (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Cheolhoon (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Joo Han (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Cheong, Kwang Cho (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
  • 박동일 (한국기계연구원, 로봇메카트로닉스연구실) ;
  • 박철훈 (한국기계연구원, 로봇메카트로닉스연구실) ;
  • 박주한 (한국기계연구원, 로봇메카트로닉스연구실) ;
  • 정광조 (한국기계연구원, 로봇메카트로닉스연구실)
  • Received : 2013.07.10
  • Accepted : 2013.07.31
  • Published : 2013.09.01
Download PDF
⟨ Previous Next ⟩

Abstract

Various types of large substrate handling robots are used in the thin file solar cell manufacturing line as well as LCD or PDP production line. Because the robot handles the heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. As the substrate becomes larger and heavier, robot systems are also larger and the vibration issue of the robot end-effector becomes more important. In the paper, we established the robot modeling and the control architecture including the flexible part such as forks. Then, we performed dynamic simulation in the various condition and analyzed the characteristics of the fork vibration. We can reduce the vibration using the trajectory planning and input shaping algorithm and it was proved by experiment.

Keywords

References

  1. Seo, J., Yim, H., Hwang, J., Choi, Y., and Kim, D., "Dynamic load analysis and design methodology of LCD transfer robot," Journal of Mechanical Science and Technology, Vol. 22, No. 4, pp. 722-730, 2008. https://doi.org/10.1007/s12206-008-0115-4
  2. Seo, J., Hwang, J., Choi, Y., and Yim, H., "Analysis and design study of LCD transfer robot using dynamic simulation and experiment," Journal of Mechanical Science and Technology, Vol. 23, No. 4, pp. 1035-1039, 2009. https://doi.org/10.1007/s12206-009-0336-1
  3. Surdilović, D. and Vukobratović, M., "Deflection compensation for large flexible manipulators," Mechanism and Machine Theory, Vol. 31, No. 3, pp. 317-329, 1996. https://doi.org/10.1016/0094-114X(95)00073-8
  4. Park, C., Park, D., and Do, H., "Controller design and motion simulation of solar cell substrate handling robot in vacuum environment," 2010 Second IITA International Joint Conference on Artificial Intelligence, Paper No. 809, 2010.
  5. Park, D., Park, C., Yoo, Y., Do, H., and Kyung, J., "Dynamic analysis of beam type substrate handling robot in solar cell manufacturing," The 8th International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 794-795, 2011.
  6. Park, C., Park, D., and Do, H., "Controller design and motion simulation of solar cell substrate handling robot in vacuum environment," 2011 11th International Conference on Control, Automation and Systems, pp. 1017-1019, 2011.
  7. Park, D., Park, C., and Yoo, Y., "Vibration simulation of hybrid type substrate handling robot in the vacuum environment," 12th International Conference on Control, Automation and Systems, pp. 2131-2134, 2012.
  8. Singer, N. C., "Residual Vibration Reduction in Computer Controlled Machines," MIT Artificial Intelligence Laboratory Technical, Report Number AITR-1030, 1989.
  9. Singer, N. C. and Seering, W. P., "Preshaping Command Inputs to Reduce System Vibration," ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 112, No. 1, pp. 76-82, 1990. https://doi.org/10.1115/1.2894142
  10. Singhose, W. E. and Mills, B. W., "Command generation using specified-negative-amplitude input shapers," Proc. of American Control Conference, Vol. 1, pp. 61-65, 1999.
  11. Singh, T. and Singhose, W., "Input shaping/time delay control of maneuvering flexible structures," Proc. of the American Control Conference, Vol. 3, pp. 1717-1731, 2002.
  12. Rhim, S. and Book, W. J., "Adaptive time-delay command shaping filter for flexible manipulator control," IEEE/ASME Transactions on Mechatronics, Vol. 9, No. 4, pp. 619-626, 2004. https://doi.org/10.1109/TMECH.2004.839046