Analysis and Compensation For the Dynamic Error of The FPD Glass Substrates Transfer Robot
文献类型：会议论文
| 作者 | Feng YL(冯亚磊); Qu DK(曲道奎); Xu F(徐方); Wang HG(王洪光) ; Su XD(苏晓东)
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| 出版日期 | 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
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| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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