High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment
The development of “large display, high performance and low cost” in the FPD industry demands glass substrates to be “larger and thinner”. Therefore, the requirements of handling robots are developing in the direction of large scale, high speed, and high precision. This paper presents a novel constr...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/22/1/149 |
| _version_ | 1827667675413741568 |
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| author | Zhengyong Liu Youdong Chen Henan Song Zhenming Xing Hongmiao Tian Xiaobiao Shan |
| author_facet | Zhengyong Liu Youdong Chen Henan Song Zhenming Xing Hongmiao Tian Xiaobiao Shan |
| author_sort | Zhengyong Liu |
| collection | DOAJ |
| description | The development of “large display, high performance and low cost” in the FPD industry demands glass substrates to be “larger and thinner”. Therefore, the requirements of handling robots are developing in the direction of large scale, high speed, and high precision. This paper presents a novel construction of a glass substrate handling robot, which has a 2.5 m/s travelling speed. It innovatively adopts bionic end-suction technology to grasp the glass substrate more firmly. The structure design is divided into the following three parts: a travel track, a robot body, and an end-effector. The manipulator can be smoothly and rapidly extended by adjusting the transmission ratio of the reducer to 1:2:1, using only one motor to drive two sections of the arm. This robot can transfer two pieces of glass substrate at one time, and improves the working efficiency. The kinematic and dynamic models of the robot are built based on the DH coordinate. Through the positioning accuracy experiment and vibration experiment of the end-effector, it is found that the robot has high precision during handling. The robots developed in this study can be used in large-scale glass substrate handling. |
| first_indexed | 2024-03-10T03:22:36Z |
| format | Article |
| id | doaj.art-ecf216c6ba3c475d9994abcf61f5dbdb |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T03:22:36Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-ecf216c6ba3c475d9994abcf61f5dbdb2023-11-23T12:17:41ZengMDPI AGSensors1424-82202021-12-0122114910.3390/s22010149High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean EnvironmentZhengyong Liu0Youdong Chen1Henan Song2Zhenming Xing3Hongmiao Tian4Xiaobiao Shan5School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaSchool of Mechanical Engineering and Automation, Beihang University, Beijing 100191, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaState Key Laboratory for Manufacturing Systems Engineering, Xi’an Jiaotong University, Xi’an 710049, ChinaState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, ChinaThe development of “large display, high performance and low cost” in the FPD industry demands glass substrates to be “larger and thinner”. Therefore, the requirements of handling robots are developing in the direction of large scale, high speed, and high precision. This paper presents a novel construction of a glass substrate handling robot, which has a 2.5 m/s travelling speed. It innovatively adopts bionic end-suction technology to grasp the glass substrate more firmly. The structure design is divided into the following three parts: a travel track, a robot body, and an end-effector. The manipulator can be smoothly and rapidly extended by adjusting the transmission ratio of the reducer to 1:2:1, using only one motor to drive two sections of the arm. This robot can transfer two pieces of glass substrate at one time, and improves the working efficiency. The kinematic and dynamic models of the robot are built based on the DH coordinate. Through the positioning accuracy experiment and vibration experiment of the end-effector, it is found that the robot has high precision during handling. The robots developed in this study can be used in large-scale glass substrate handling.https://www.mdpi.com/1424-8220/22/1/149handling robotbionic end adsorptionglass substrate |
| spellingShingle | Zhengyong Liu Youdong Chen Henan Song Zhenming Xing Hongmiao Tian Xiaobiao Shan High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment Sensors handling robot bionic end adsorption glass substrate |
| title | High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment |
| title_full | High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment |
| title_fullStr | High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment |
| title_full_unstemmed | High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment |
| title_short | High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment |
| title_sort | high speed handling robot with bionic end effector for large glass substrate in clean environment |
| topic | handling robot bionic end adsorption glass substrate |
| url | https://www.mdpi.com/1424-8220/22/1/149 |
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