Analysis and design study of LCD transfer robot using dynamic simulation and experiment

Recently, the size of raw glass has been greatly increased in the new generation Liquid Crystal Display (LCD) technology. To handle bigger and heavier glasses, it is necessary to develop a large scale LTR (LCD Transfer Robot) to support various complicated LCD fabrication processes. This adjustment will result in difficult design problems such as vibration, handling accuracy deterioration, and high stress due to heavier dynamic loads. In turn, these will result in inaccurate transfer motion and fatigue cracks. In this paper, the dynamic simulation technique is introduced to validate a baseline design and to propose new and improved designs for the best performance of heavy-scaled LCD transfer robots. The dynamic models and analysis results were verified by real experiments including strain measure test and motor power test. Using the verified simulation model, some dynamic situations such as the robot’s emergency stop and free fall situation, which were not impossible to test using the real proto robot, were analyzed and predicted using the simulation model. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Jong-Hwi Seo received a B.S. M.S. and Ph.D. degrees from Ajou University in 1998, 2000 and 2005, respectively. He is currently a senior engineer in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co. His research interests are in the area of multibody dynamics, robotics and mechanism design. Jae Chul Hwang received a B.S., M.S., and Ph.D. degrees in mechanical engineering from Seoul National University, Korea, in 1996, 1998, and 2002, respectively. He is currently a senior engineer in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co., Ltd. His research interests are in the area of kinematics and dynamics of serial and parallel kinematic robot. Yong-Won Choi received a M.S degree in Mechanical Engineering from Korea University in 1993. He has worked for Samsung Electronics, Ltd from 1993 and is currently a principle engineer at Robot Mechanism Part in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co. He is interest in the area of robotics, control and mechanism design. Hong Jae Yim received B.S. and M.S degrees in mechanical engineering from Seoul National University, Korea, in 1979, and 1983, respectively. He received Ph.D degree from Univ. of Iowa, USA. He is currently a professor in School of Mechanical & Automotive Engineering, Kookmin University. His research interests are in the area of computer aided kinematics and dynamics of mechanical systems.