• 대한기계학회논문집A
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• 제29권3호
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• pp.455-461
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• 2005

This research studied robust design of composite hand for LTR (LCD glass Transfer Robot). $1^{st}$ DOE (Design of Experiment) was conducted to find out vital few Xs. 108 experiments were performed and their results were statistically analyzed. Pareto chart analysis shows that the geometric parameters (height and width of composite beam) are more important than material parameters $(E_{1},\;E_{2})$ or stacking sequence angle. Also, the stacking sequence of mid-layer is more important than that of outer-layer. The main effect plots shows that the maximum deflection of LTR hand is minimized with increasing height, width of beam and layer thickness. $2^{nd}$ DOE was conducted to obtain RSM (Response Surface Method) equation. 25 experiments were conducted. The CCD (Central Composite Design) technique with four factors was used. The coefficient of determination $(R^{2})$ for the calculated RSM equation was 0.989. Optimum design was conducted using the RSM equation. Multi-island genetic algorithm was used to optimum design. Optimum values for beam height, beam width, layer thickness and beam length were 24.9mm, 186.6mnL 0.15mm and 2402.4mm respectively. An approximate value of 0.77mm in deflection was expected to be a maximum under the optimum conditions. Six sigma robust design was conducted to find out guideline for control range of design parameter. To acquire six sigma level reliability, the standard deviation of design parameter should be con trolled within $2{\%}$ of average design value

• 대한기계학회논문집A
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• 제26권7호
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• pp.1357-1365
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• 2002

A robot hand is used to transport the glass substrate in TFT-LCD manufacturing process. Carbon/epoxy composite is one of the best materials for this kind of robot hand application, due to their lightweight, high stiffness, and good damping characteristics. Major requirement of the robot hand is given as allowable deflection under weight loading of glass substrate and robot hand itself. In this thesis, a carbon/epoxy robot hand was analyzed using finite element method and beam theory to determine the deflection of the hand under the loading that is equivalent to actual weight. Because natural frequency is one of the major interests in robot hand design for TFT-LCD manufacturing process, modal analysis is also conducted using finite element method and beam theory. A robot hand was manufactured, and actual deflection and natural frequency were measured to verify the analysis results and compliance to requirement. The test results showed good agreement with analysis results.

• Composites Research
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• 제35권5호
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• pp.303-308
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• 2022

PIC(Piecewise Integrated Composite)는 적층 복합재의 기계적 특성을 향상시키기 위해 다양한 적층 순서를 모자이크 방식으로 할당하여 복합 구조를 설계하는 새로운 개념이다. 또한 머신 러닝은 인공 지능의 하위 범주로, 컴퓨터가 데이터에서 지속적으로 학습하고 데이터를 기반으로 예측하는 능력을 개발한 다음 추가 프로그래밍 없이 조정하는 과정을 의미한다. 본 연구에서는 구조적 강성을 높이기 위해 기계학습을 기반으로 넓고 얇은 LCD 디스플레이를 운반 및 이송하기 위한 테이퍼 박스형 빔형 PIC 로봇 암이 설계되었다. 필수 학습 데이터는 예비 FE 해석 과정에서 유한 요소 모델 중 의도적으로 배치된 참조 요소에서 수집되었다. 또한 인장, 압축 또는 전단과 같은 지배적인 외부 하중 유형을 판단하기 위해 각 유한 요소에 대한 3축 특성 값을 얻었다. 학습 데이터를 이용하여 머신 러닝 모델을 훈련하고 평가되었으며, 정확도 레벨을 만족한 머신 러닝 모델을 이용해 요소의 로딩 유형을 예측하였다. 특정 하중 유형에 대해 우세한 것으로 알려진 세 가지 유형의 적층 각도 순서가 PIC 로봇 암에 모자이크 방식으로 할당되었습니다. 이후 굽힘형 FE 해석을 수행한 결과 PIC 로봇 암이 기존의 단일 적층 각도 순서로 제작된 복합재 로봇 암에 비해 강성이 증가된 것으로 나타났다.