Modeling of large scale solar cell handling robot with belt-driven flexible arms

作     者：Eun Yim Cho Jinsu Kim Sungsoo Rhim 

作者机构：Dept. of Mech. Eng. Kyung Hee University 

出 版 物：《Theoretical & Applied Mechanics Letters》 (力学快报（英文版）)

年 卷 期：2013年第3卷第1期

页      面：77-80页

学科分类：08[工学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 0830[工学-环境科学与工程（可授工学、理学、农学学位）] 0707[理学-海洋科学] 080202[工学-机械电子工程] 0807[工学-动力工程及工程热物理] 0815[工学-水利工程] 0804[工学-仪器科学与技术] 0805[工学-材料科学与工程（可授工学、理学学位）] 0813[工学-建筑学] 0802[工学-机械工程] 0824[工学-船舶与海洋工程] 0814[工学-土木工程] 0825[工学-航空宇航科学与技术] 0836[工学-生物工程] 0701[理学-数学] 0801[工学-力学（可授工学、理学学位）] 0702[理学-物理学] 

基　　金：supported by the Korean Ministry of Knowledge and Economics(10035218) 

主　　题：flexible belt drive flexible multi body dynalnics modeling panel handling robot 

摘      要：To increase the competition of the solar energy collection system, the size of the solar panel module during the manufacturing process is being increased continuously. As the size of the solar panel increases, the size of the robot to handle the panel increased also. The change in scale of the robot inevitably results ill the amplification of the adverse effect of tile flexure. The main source of the flexure in the large scale solar cell panel handling system is the long and thin fork fingers of the [land and the solar cell panel. In addition, tile belt-driven actuator system used by most of the large scale panel handling robot is another significant source of the vibration. In this paper, the flexible multi body dynamic model of a large scale solar cell panel handling robot, which is being designed and constructed with the help of Kyung Hee University, is developed. The belt-driven system in the robot is also modeled as flexible system and included ill the robot to represent the actual vibration characteristics of the actuator system. C 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi： 10.1063/2.1301310]