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Analysis of Chattering Problem of a Glass Transfer Robot Hand  

Kim Joo-Yong (인사이드테크원(주) 시스템설계팀)
Kang Chul-Goo (건국대학교 기계공학과)
Publication Information
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
Glass transfer robot; Chattering phenomenon; Robot hand; Radial motion robot; Harmonic drive; Timing belt;
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Times Cited By KSCI : 5  (Citation Analysis)
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