• Title/Summary/Keyword: handling robot

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High Precision Path Generation of an LCD Glass-Handling Robot

  • Cho, Phil-Joo;Kim, Hyo-Gyu;Kim, Dong-Il
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2311-2318
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    • 2005
  • Progress in the LCD industries has been very rapid. Therefore, their manufacturing lines require larger LCD glass-handling robots and more precise path control of the robots. In this paper, we present two practical advanced algorithms for high-precision path generation of an LCD glass-handling robot. One is high-precision path interpolation for continuous motion, which connects several single motions and is a reliable solution for a short robot cycle time. We demonstrate that the proposed algorithm can reduce path error by approximately 91% compared with existing algorithms without increasing cycle time. The second is real-time static deflection compensation, which can optimally compensate the static deflection of the handling robot without any additional sensors, measurement instruments or mechanical axes. This reduces vertical path error to approximately 60% of the existing system error. All of these algorithms have been commercialized and applied to a seventh-generation LCD glass-handling robot.

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Design of ship dry multi-function handling robot (선박건조용 다기능 핸들링로봇의 설계)

  • 권광진;전재억;정진서;황영모;박후명;하만경
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2004.04a
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    • pp.231-234
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    • 2004
  • Ratio that robot occupies is low level worldwide fairly in suspension wire, electricity electron and neutralization learning industry and domestic industry of this is staring in average love. Can speak that grafting of robotic machine and neutralization learning industry is high in terms of side of creation of the added value or progress of technology rightly hereupon. This research raises or designed multi-function handling robot that can make welding, assembly conveniently catching large size work water

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A Study on the Performance Evaluation of Heavy Duty Handling Robot using Laser Tracker (초 중량물 핸드링 로봇의 성능평가에 관한 연구)

  • Ko, Haeju;Jung, Yoongyo;Shin, Hyeuk;Ryou, Han-Sik
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.9 no.3
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    • pp.1-7
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    • 2010
  • The aim of this research is to evaluate movement and path characteristics of developed heavy duty handling robot using laser tracker(API T3) according to the ISO 9283 robot performance evaluation criteria. As carry out 3D modeling and simulation using CATIA, a test cube was set up to select moving and measuring range of robot. Performance test for pose and distance accuracy, path and path velocity accuracy under payload zero and 440kgf was accomplished. The resulted output data show the reliability of the developed robot.

Axiomatic Design of Composite Double Arm Type Robot Hands and Wrists for Handling Large Glass Panel Displays (공리 설계를 적용한 대형 평판 디스플레이용 더블암형 복합재료 로봇 핸드 및 리스트)

  • 이창섭;이대길;최진경
    • Proceedings of the Korean Society For Composite Materials Conference
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    • 2002.10a
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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.

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Modeling of a Timing-Belt Drive System Used in a Large-Scale Panel-Handling Robot (대형 패널 이송 로봇에 사용되는 타이밍벨트 구동계의 모델링)

  • Jo, Eunim;Rhim, Sungsoo
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.9
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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.

A study on stereo imaging system for remote handling (원격조작을 위한 입체영상 시스템 연구)

  • 이용범;김웅기;박순용;김승호;이종민
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.821-824
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    • 1993
  • In hazardous conditions, where entry of human operators is restricted, such as high radiation regions in nuclear facilities, a lot of remote inspections and remote handling tasks must be performed. In this study, the stereo imaging system has been developed and the remote handling technique, has been studied to enhance the efficiency of tele-operation. The nozzle dam handling robot is one of the most important robots applied to nuclear facility. The robot will be equipped with the developed stereo imaging system. The stereo imaging system will outstandingly improve the tele installing/removal tasks for nozzle dam.

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Development of multifunctional handling robot (탑성식 다목적 핸들링로봇의 개발)

  • Jun J.U.;Park H.M.;Jung J.S.;Kim S.K.;Lee W.Y.;Ha M.K.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.06a
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    • pp.1656-1659
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    • 2005
  • earning industry is high in terms of side of creation of the added value or progress of technology rightly hereupon. This research raises or designed multi-function handling robot that can make welding, assembly conveniently catching large size work waterRatio that robot occupies is low level worldwide fairly in susdension wire, electricity electron and neutralization learning industry and domestic industry of this is staying in average leve. Can speak that grafting of robotic machine and neutralization

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Implementation of Wafer Handling Robot Controller Based on RTAI (RTAI 기반의 웨이퍼처리 로봇 제어기 구현)

  • Chang, Soon-Pill;Shin, Ik-Sang;Moon, Seung-Bin
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.9
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    • pp.45-52
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    • 2008
  • As multiple functions arc required in a robot controller, RTOS(Real Time Operating System) should be adopted to manage complex situations, such as choosing most urgent task among competing ones. In this paper, we implemented RTAI(Real Time Application Interface) based robot controller for wafer handling robots including graphic simulator. We showed how multiple tasks are organized and also explained in detail about task priorities and execution periods. Finally, we presented simulation results.