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

Zhengyong Liu, Youdong Chen, Henan Song, Zhenming Xing, Hongmiao Tian, Xiaobiao Shan
2021 Sensors  
The development of "large display, high performance and low cost" in the FPD industry demands glass substrates to be "larger and thinner". Therefore, the requirements of handling robots are developing in the direction of large scale, high speed, and high precision. This paper presents a novel construction of a glass substrate handling robot, which has a 2.5 m/s travelling speed. It innovatively adopts bionic end-suction technology to grasp the glass substrate more firmly. The structure design
more » ... divided into the following three parts: a travel track, a robot body, and an end-effector. The manipulator can be smoothly and rapidly extended by adjusting the transmission ratio of the reducer to 1:2:1, using only one motor to drive two sections of the arm. This robot can transfer two pieces of glass substrate at one time, and improves the working efficiency. The kinematic and dynamic models of the robot are built based on the DH coordinate. Through the positioning accuracy experiment and vibration experiment of the end-effector, it is found that the robot has high precision during handling. The robots developed in this study can be used in large-scale glass substrate handling.
doi:10.3390/s22010149 pmid:35009693 pmcid:PMC8747698 fatcat:6hlhojfv7zdw7bkv4yr363hprq