Research On The Robot End Effector Optimum Design And Trajectory Planning Of Glass Substrate Handling Robot

China’s flat panel display industry as a strategic emerging industry, has expanded rapidlyin recent years, and become the world’s second-largest production base. Glass substrate is animportant base material of flat panel display industry, therefore, the quality of the glasssubstrate directly determines the merits of the LCD monitor. In the liquid crystal panelproduction process, the glass substrate need to go through module, etching, cutting, the tankliquid, patching, cleaning and a plurality of processes. Therefore, we need to circular handleand process in each production line. Glass substrate handling robot is a flat panel displayproducts bear the glass substrate during processing and transmission automation equipmentexchange, and its performance will directly affect the yield of flat panel display products andproduction efficiency. Topic of this article is from TSTD coating line handling system, in thispaper，we kinematics research and design optimization on the substrate glass handing robot,design and simulate the robot trajectory optimization and improve the efficiency and stabilityof the handling robots.Firstly, this paper introduces the development and research status of glass substratehandling robots at home and abroad. Due to the large size glass substrates, thin, easily broken,and other characteristics, the research will study on the robot optimal time and minimum jittermulti-objective optimization trajectory.Secondly, putting forward the design principles of robot end actuators, through theanalysis of the working process of the robot end actuators, the design of robot end-effectorhas been completed. After completing the design of the robot end executor, glass substrateusing Solidworks Simulation stress analysis, through the glass substrate statics analysis, thepaper has optimized design of robot end executor.Then, putting forward kinematics performance evaluation, a forward kinematics model is set up by using D-H method. An inverse kinematics model is then deduced based on theforward model, inverse kinematics model. The robot SingularityAnalysis，prevent movementof the robot encounters dead.Finally, a detailed analysis of the general method for robot trajectory planning, the use ofmulti-objective genetic algorithm, designed to optimize time and jitter for the best goal of theprogram, using the B-spline curve as a way to construct a robot trajectory, establish itstrajectory optimization model. Genetic algorithms are optimized so that the substrate glasshandling robots and jitter integrated optimal completed research objectives of this paper.