Dynamic simulation of cassette handling robot used in the solar cell manufacturing

Many kinds of robots are used in the solar cell manufacturing line such as cassette handling robot and several substrate handling robots. They are important for the efficiency of the solar cell production line. Especially, a cassette handling robot plays an important role because cassette handling robot travels in the center of the production line and can handle tens of solar cell substrate. Vibration control of the robot is necessary because the cassette with tens of solar cell substrates is too heavy. In the paper, we performed motion simulation of the cassette handling robot based on the real tact time and analyzed its vibration.