搬运机器人的动态负荷分析和设计方法毕业课程设计外文文献翻译.docVIP

Dynamic load analysis and design methodology of LCD transfer robot Jong Hwi Seo1, Hong Jae Yim2,*, Jae Chul Hwang1, Yong Won Choi1 and Dong Il Kim 1 1Robotics Technology Lab, Mechatronics Manufacturing Technology Center SAMSUNG Electronics Co., LTD. Suwon, South Korea 2School of Mechanical and Manufacturing Engineering, Kookmin University SeongBuk-Gu, Seoul, South Korea (Manuscript Received July 20, 2007; Revised December 28, 2007; Accepted January 16, 2008) Abstract The objective of the present study is to develop a design methodology for the large scale heavy duty robot to meet the design requirements of vibration and stress levels in structural components resulting from exposure of system modules to LCD (Liquid Crystal Display) processing environments. Vibrations of the component structures significantly influence the motion accuracy and fatigue damage. To analyze and design a heavy duty robot for LCD transfer, FE and multi-body dynamic simulation techniques have been used. The links of a robot are modeled as flexible bodies using modal coordinates. Nonlinear mechanical properties such as friction, compliance of reducers and bearings were considered in the flexible multi-body dynamics model. Various design proposals are investigated to improve structural design performances by using the dynamic simulation model. Design sensitivity analyses with respect to vibration and stresses are carried out to search an optimal design. An example of an 8G (8th-Generation) LTR (LCD Transfer Robot) is illustrated to demonstrate the proposed methodology. Finally, the results are verified by real experiments including vibration testing. Keywords: Flexible multibody dynamics; LTR (LCD Transfer Robot); Vibration fatigue 1. Introduction LCDs are widely used in TV’s, computers, mobile phones, etc., because they offer some real advantages over other display technologies. They are thinner and lighter and draw much less power. Recently, the size of raw glass has greatly increased in new