Journal
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
Volume 45, Issue 4, Pages 549-560Publisher
EMERALD GROUP PUBLISHING LTD
DOI: 10.1108/IR-11-2017-0201
Keywords
Glass substrate transfer robot
Categories
Ask authors/readers for more resources
Purpose - The glass substrate transfer robot uses flexible arm and fork to transport the glass substrate which will generate vibration. To reduce the settling time and increase productivity, the authors proposed a vibration suppression method that integrated the continuous input shaping into the S-curve feedrate profiling. Design/methodology/approach - The quasi-optimal S-curve feedrate profiling is achieved by the robot model. Then the outputs of the S-curve are shaped by the continuous input shaper, which can greatly lower the vibration and shorten the settling time. Findings - The robot produces vibrations because of the flexibility of the belt system and the forks; the vibration of the robot is especially obvious in the acceleration and deceleration stage and the low-speed operation stage. Because the fork fingers are flexible, vibration at the end of the fork is enlarged. Originality/value - The effectiveness of the proposed method is verified by the comparative experiments conducted on a glass substrate transfer robot.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available