【摘要】 讨论了FPD产业中玻璃基板搬运机器人的常用构型,确定了圆柱坐标型玻璃基板搬运机器人的设计方案。结合玻璃基板搬运机器人的设计过程和构型特点,着重介绍了玻璃基板搬运机器人R向伸缩模块、θ向旋转模块和Z向升降模块的功能及实现各模块功能的机械结构和运动机理,并以R向伸缩模块为例,从转矩匹配和转动惯量匹配两个方面校核了电机与负载的匹配性能。验证结果表明,玻璃基板搬运机器人所选电机与负载的匹配性能良好,且R向伸缩模块的转动惯量具有周期性变化的规律。更多还原

【Abstract】 The common configurations of glass substrate robot for FPD are discussed,the cylindrical coordinate robot is determined.Based on the design and research of glass substrate handling robot,the function and mechanical structure of R expansion module,θ revolving module and Z lifting module are analyzed.And taking the R expansion module as example,the motor matching situation of glass substrate handling robot is checked from the following two aspects: torque matching and moment of inertia matching.Test results show that motor and load matching performance are perfect,and the moment of inertia of R expansion module is periodic.更多还原