太阳能电池制造中梁式衬底搬运机器人的动力学分析

Dongil Park, C. Park, Yijun Yoo, Hyunmin Do, J. Kyung
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引用次数: 8

摘要

在薄膜太阳能电池生产系统中,处理大尺寸太阳能电池衬底是一项非常重要的任务。许多搬运机器人已被开发并应用于生产线上。随着基板尺寸的增大,包括柔性叉在内的动态分析和振动控制变得非常重要。精确的位置控制包括叉和基板的振动是非常重要的,因为太阳能电池基板比LCD玻璃基板重三到五倍。本文利用RecurDyn软件对机器人的动态运动和末端执行器(包括柔性叉)的振动进行分析。运动轨迹基于真实生产线的实际时间,并在各种条件下进行运动仿真。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Dynamic analysis of beam type substrate handling robot in solar cell manufacturing
In the thin film solar cell production system, it is a very important task to handle the large size solar cell substrate. Many handling robots have been developed and applied in the manufacturing line. As the substrate size gets larger, dynamic analysis and vibration control including flexible forks becomes very important. Precise position control including the vibration of forks and the substrate is very important because solar cell substrate is three to five times heavier than LCD glass substrate. In the paper, we analyzed dynamic motion of the robot and vibration of end-effector including flexible forks using RecurDyn. Motion trajectory is based on tact time in the real production line and motion simulation is performed in the various conditions.
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