Analysis and Compensation For the Dynamic Error of The FPD Glass Substrates Transfer Robot

	Analysis and Compensation For the Dynamic Error of The FPD Glass Substrates Transfer Robot
	Feng YL(冯亚磊); Qu DK(曲道奎); Xu F(徐方); Wang HG(王洪光); Su XD(苏晓东)
	2011
会议名称	2011 IEEE International Conference on Robotics and Automation
会议日期	May 9-13, 2011
会议地点	Shanghai, China
页码	3 pp.
中文摘要	High-generation FPD (Flat Panel Display) glass substrates need to be carried by large clean transfer robot. Due to the space of the deposited glass box is limited, the distance between the two substrates is very small, this requires the sag amount of the robot fork must be controlled within a certain range. The traditional design is completed only in robot manufacturing stage by adding a shim to compensate for this distortion, but this method can only make the fork be compensated at a determined location, deformation at other locations may not be considered. A new solution to the dynamic compensation for the robot fork is proposed. By establishing the robot FEA model and mechanism accuracy model respectively, the synthetic dynamic error is then obtained. One can just change the mechanism accuracy through rational allocation of design tolerances of the robot links to minimize the dynamic error.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Robotics Autom. Soc.
会议录	2011 IEEE International Conference on Robotics and Automation
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1050-4729
ISBN号	978-1-61284-386-5
WOS记录号	WOS:000324383405115
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/7659]
专题	沈阳自动化研究所_其他
推荐引用方式 GB/T 7714	Feng YL,Qu DK,Xu F,et al. Analysis and Compensation For the Dynamic Error of The FPD Glass Substrates Transfer Robot[C]. 见:2011 IEEE International Conference on Robotics and Automation. Shanghai, China. May 9-13, 2011.