Dynamic Modeling of Flexible Glass Substrate Transfer Robot Arm (and meandering estimation)
Tae-Hyun Kim, Min-Su Jegal, Joonyoung Kim, Jae-Hwan Choe, Sung-Rak Kim, IEEE International Conference on Robotics and Automation (ICRA), Shanghai, May 2011, pp. 1-4.
Abstract
This paper presents dynamic modeling of glass substrate transfer robot arm that use timing belts for power transmission. The methods proposed in the existing literature are limited in practical use because the dynamic models require a high computational burden or can generate a large error. We propose a simple dynamic model that considers the elasticity of the timing belt in order to estimate the path errors of the robot. The experimental results show that the proposed dynamic model can predict the path errors within maximum 8 %.
How Multibody Dynamics Simulation Technology is Used
RecurDyn is used to simulate a dynamic model of a belt-driven glass substrate transfer robot arm. The simulated results are compared to experimental results and the path errors are within 8%. This model can be used to determine how the material characteristics of each belt affect the meandering of the robot hand.
