Browse > Article

Analysis of Chattering Problem of a Glass Transfer Robot Hand  

Kim Joo-Yong (인사이드테크원(주) 시스템설계팀)
Kang Chul-Goo (건국대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.2, 2005 , pp. 98-104 More about this Journal
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;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
1 Kang, B. J., Chung, T. E., Shin, H. C. and Oh, J. W., 'A Study on Vibration Reduction of an Optical Disk Drive with the Misaligned Axis of Rotation,' J. of the KSPE, Vol. 21, No.5, pp. 122-130,2004   과학기술학회마을
2 Choi, Y. H., Ahn, Y. D. and Chung, W. J., 'Vibration Analysis of a BEBTS Type ABTU,' J. of the KSPE, Vol. 19, No.3, pp. 95-100, 2002   과학기술학회마을
3 Abbe, R.C. and Baker, D.G., 'Rotary to Linear Motion Robot Ann,' US Patent No. 4,897,015, 1990
4 Tarnai, T. and Okada, K., 'Robot Ann Capable of Three Dimensional Moving a Robot Ann Member,' US Patent No. 5,046,992, 1991
5 Kang, C.-G., Kweon, I.-S., Yoon, J.-S. and Chung, W.-K., Robot Dynamics and Control (Korean Translation), Hee Jung Dang, 1994
6 ChomDan, Inc., Automation Systems (Korean), August Issue, pp. 120-126, 1998
7 Electronic Sources Int'l Inc., Semiconductor Monthly (Korean), August Issue, pp. 60-69, 2000
8 Spong, M. W. and Vidyasagar, W., Robot Dynamics and Control, John Wiley & Sons, 1989
9 Park, J.-K., 'Optimal Motions for a Robot Manipulator amid Obstacles by the Concepts of Penalty Area,' J. of the KSPE, Vol. 14, No.3, pp. 147-155,1997   과학기술학회마을
10 Jeong, D. Y. and Han, S. H., 'Development of Off- line Simulator for Industrial Robots with Autoteaching,' J. of the KSPE, Vol. 20, No. 12, pp. 80-88, 2003
11 Baek, D. K. and Ko, T. J., 'A Modeling Method of Equivalent Vibratory System in End Milling,' J. of the KSPE, Vol. 21, No.5, pp. 135-141, 2003   과학기술학회마을