Motion simulation model for beam type solar cell substrate transport robot

摘要

The automated solar cell process line is composed of various types of solar cell substrate handling robots such as cassette transfer robots, glass handling robots and vacuum robots. This paper is focusing on the beam type solar cell substrate transport robot and presents the design procedure for motion simulation model. The simulation model for beam type robot is constructed by using Matlab/Simulink and SimMechanics. The trajectory is generated based on the one tack time motion and the tracking performance using the simulation model is predicted as well.