{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T15:10:42Z","timestamp":1777043442429,"version":"3.51.4"},"reference-count":35,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2021,12,27]],"date-time":"2021-12-27T00:00:00Z","timestamp":1640563200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the National Key R&amp;D Program of China","award":["2018YFB1308500 and 2019YFB1312202"],"award-info":[{"award-number":["2018YFB1308500 and 2019YFB1312202"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>The development of \u201clarge display, high performance and low cost\u201d in the FPD industry demands glass substrates to be \u201clarger and thinner\u201d. Therefore, the requirements of handling robots are developing in the direction of large scale, high speed, and high precision. This paper presents a novel construction of a glass substrate handling robot, which has a 2.5 m\/s travelling speed. It innovatively adopts bionic end-suction technology to grasp the glass substrate more firmly. The structure design is divided into the following three parts: a travel track, a robot body, and an end-effector. The manipulator can be smoothly and rapidly extended by adjusting the transmission ratio of the reducer to 1:2:1, using only one motor to drive two sections of the arm. This robot can transfer two pieces of glass substrate at one time, and improves the working efficiency. The kinematic and dynamic models of the robot are built based on the DH coordinate. Through the positioning accuracy experiment and vibration experiment of the end-effector, it is found that the robot has high precision during handling. The robots developed in this study can be used in large-scale glass substrate handling.<\/jats:p>","DOI":"10.3390\/s22010149","type":"journal-article","created":{"date-parts":[[2021,12,28]],"date-time":"2021-12-28T01:20:43Z","timestamp":1640654443000},"page":"149","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["High-Speed Handling Robot with Bionic End-Effector for Large Glass Substrate in Clean Environment"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5244-8830","authenticated-orcid":false,"given":"Zhengyong","family":"Liu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"},{"name":"Hefei Sineva Intelligent Machine Co., Ltd., Hefei 230013, China"}]},{"given":"Youdong","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9009-0318","authenticated-orcid":false,"given":"Henan","family":"Song","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Zhenming","family":"Xing","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]},{"given":"Hongmiao","family":"Tian","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Manufacturing Systems Engineering, Xi\u2019an Jiaotong University, Xi\u2019an 710049, China"}]},{"given":"Xiaobiao","family":"Shan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,12,27]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Park, D.I., Park, C.H., and Yoo, Y. 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