期刊
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
卷 45, 期 4, 页码 549-560出版社
EMERALD GROUP PUBLISHING LTD
DOI: 10.1108/IR-11-2017-0201
关键词
Glass substrate transfer robot
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.
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