Development of the long and slender end effectors for gripping large-size object with uniformly distributed grip force (ICCAS 2007)

In the fabrication process of large-size FPD (flat panel display), it is required to clamp a glass substrate with uniformly distributed gripping force of the long end effector. The gripping forces of several positions are controlled by using the variable spring, and each gripping forces are measured by load cell. To design and develop a long and slender gripper with uniformly distributed gripping forces, experimental approaches of a computer simulation method are investigated. In the developed gripper system, variable springs deliver force to each-location when the gripper clamps the large glass substrate. The amount of force of each-location is measured and analyzed to figure out that strengths of each force are uniform. The performance of the gripper is verified by comparing and analyzing the measured data and results of computer simulation.