• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2002년도 추계학술발표대회 논문집
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• pp.241-244
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• 2002

Recently, the size of glass panel is increased to $1250 mm{\times}1100 mm{\times}0.7 mm$, whose mass is 2.65 kg, which requires much stiffer robot structure. In addition to the high stiffness, the robot hands and wrists for glass panel handling should have miller surface finishing of its outer surface to prevent particles and dusts from adhering on the surface. The maximum height of the robot structure should not be larger than 1500 mm because other automated guided vehicles (AGV) and transfer equipments have been designed within this size limit. The difference of maximum deflections of the four ends of the hands before and after loading the glass panel should be less than 2.0 mm. In this work, the robot hands and wrists for handling large glass panel displays were designed based on the axiomatic design using the finite element method along with optimization routine.

• 한국정밀공학회지
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• 제30권9호
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• pp.915-921
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• 2013

Most of large scale solar panel handling robots adopt the timing-belt drive system for its driveline because of the simplicity and the easiness of implementation. The vibration caused by the flexure of the timing belt would increase as the size and the weight of the panel that the robot handles increase and the vibration would deteriorate the precision and/or productivity of the whole robot system. For the development of a proper control system and for the improvement of the design of the robot it is important to estimate the oscillatory response of the robot system including the flexible drive system properly. In this paper a flexible multi-body dynamics model of a large-scale solar-panel-handling robot with the flexible timing-belt drive system is developed using a generic multi-body dynamics analysis program, RecurDyn.

• 산업기술연구
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• 제24권B호
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• pp.73-81
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• 2004

The development of efficient and precise handling of an liquid crystal display (LCD) panel has been addressed as the sizes of LCD panels become much larger than ever. The majority part of LCD panel handling is conducted by industrial robots for the cost reduction and the quality control. A challenging problem, vibration of the panel, can be found when the robots are utilized for handling LCD panels. The vibration causes the poor product precision and the low productivity. The characteristics of LCD panels, which are the high size-to thickness ratio, the high elasticity, and the high brittleness, are the major sources of the vibration This paper introduces the vibration attenuation techniques to overcome the difficulties encountered in the LCD production using the industrial robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.105-110
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• 1998

This paper proposes a graphical user interface for industrial robot systems. Previous user interfaces for industrial robot systems were based on the text. In order to enable operators to handle robots more efficiently, a set of graphical tools is provided. The graphical tools contain a control panel for operating robots and compiling robot programs, a graphical teaching panel for handling virtual robots and a graphical monitoring panel for checking robot status. Furthermore, the proposed GUI can be used to operate remote robots because it has network utilities. This system consists of the virtual mode and the real mode. The user can handle a 3D virtual solid model of the robot in the virtual mode and an actual robot in the real mode.

• 한국생산제조학회지
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• 제25권6호
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• pp.498-503
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• 2016

Many types of robot systems are used in the mass production line of thin film solar cells and flat panel displays. There are some issues such as the deflection and the vibration of the end-effector because robots handle large and heavy substrates at high speed. Heavy payload and high speed cause much vibration because the end-effector (fork) is made of carbon fiber reinforced polymer because of its light weightiness and sufficient stiffness. This study performs a dynamic simulation of an 8.5G solar cell substrate handling robot, including rigid and flexible bodies and a vibration controller. The fifth polynomial trajectory and the zero vibration derivative input shaping algorithm are applied. The vibration reduction is also proved in the experiments.

• 대한기계학회논문집A
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• 제30권7호
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• pp.741-749
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• 2006

For last couple of decades, uses of TFI-LCDs have been expanded to many FPD(Flat Panel Display) applications including mobile displays, desktop monitors and TVs. Furthermore, there has been growing demand for increasingly larger LCD TVs. In order to meet this demand as well as to improve productivity, LCD manufactures have continued to install larger-generation display fabrication facilities which are capable of producing more panels and larger displays per mother glass(substrate). As the size of mother glass becomes larger, a robot required to handle the glass becomes bigger accordingly, and its end effectors(arms) are extended to match the glass size. With this configuration, a considerable static deflection occurs at the end of the robot arms. In order to stack maximum number of mother glasses on a given footprint, the static deflection should be compensated. This paper presents a novel static deflection compensation algorithm. This algorithm requires neither measurement instrument nor additional vertical axis on the robot. It is realized by robot controller software. The forward and inverse kinematics considering compensation always guarantees a unique solution, so the proposed algorithm can be applied to an arbitrary robot position. The algorithm reduced static deflection by 40% in stationary robot state experiment. It also improved vertical path accuracy up to 60% when the arm was running at its maximum speed. This algorithm has been commercialized and successfully applied to a seventh-generation LCD glass-handling robot.

• 한국정밀공학회지
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• 제22권2호
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• pp.98-104
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• 2005

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.

• 제어로봇시스템학회논문지
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• 제20권3호
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• pp.356-363
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• 2014

This paper covers improvement of the humanoid robot platform HUBO2, known as the HUBO2+. As a necessity of the growth of the humanoid platform, a robust, reliable and user friendly platform is needed. From this standpoint, HUBO2+ is the most improved humanoid robot platform in the HUBO series. The mechanical design has been changed to increase the movable range and to stop joint compulsion. Additionally, all of the electrical parts are re-designed to be un-breakable in an unexpected situation. A smart power controller with robot status check panel is attached on the back. Additionally, a diagnosis tool, the HUBO-i, has been developed. Moreover, each joint motor controller of HUBO2+ has a Protection Function and a PODO system is provided for handling the robot easily.