Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Analysis of Chattering Problem of a Glass Transfer Robot Hand

글래스 반송용 로봇핸드의 채터링 원인 해석

  • 김주용 (인사이드테크원(주) 시스템설계팀) ;
  • 강철구 (건국대학교 기계공학과)
  • Published : 2005.02.01
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Abstract

A glass transfer robot is used for handling LCDs in the production line of flat panel displays under clean environments. During glass transfer operations of the robot, chattering phenomenon occurs at the robot hand. This deteriorates the accuracy and repeatability of the end-effector of the robot. In this paper, we present the kinematic solution of the robot and then analyze the cause of this chattering phenomenon in view of the mechanism and servo control and propose a practical solution that can reduce the chattering significantly at the robot hand of the glass transfer robot.

Keywords

References

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