Abstract: Discussed is a composition of an organic insulating layer comprising a photosensitizer, a binder, an additive and a solvent, wherein the photosensitizer includes a photoacid generator (PAG), and a thin film transistor substrate and display device using the same, wherein the composition of the present invention enables to realize a simplified process by omitting an additional entire-surface exposing process for a color change, and a baking process after an exposing process; and to minimize a problem of color-coordinates shift by realizing a good light transmittance.

Abstract: An industrial gripper includes a base plate, at least three finger units to be moved relative to the base plate, a supporting unit to support the finger units, a first drive unit coupled to the supporting unit to allow simultaneous angular displacement of the finger units toward an object, and a second drive unit coupled to the supporting unit to adjust orientation angles between the finger units. Each of the finger units includes an intermediation member to be moved in a first direction by the first drive unit, a grip member to grip the object by being moved in a second direction different from the first direction as a movement direction of the intermediation member, and a connection member to convert the first direction movement of the intermediation member into the second direction movement of the grip member.

Abstract: An industrial gripper includes a base plate, at least three finger units to be moved relative to the base plate, a supporting unit to support the finger units, a first drive unit coupled to the supporting unit to allow simultaneous angular displacement of the finger units toward an object, and a second drive unit coupled to the supporting unit to adjust orientation angles between the finger units. Each of the finger units includes an intermediation member to be moved in a first direction by the first drive unit, a grip member to grip the object by being moved in a second direction different from the first direction as a movement direction of the intermediation member, and a connection member to convert the first direction movement of the intermediation member into the second direction movement of the grip member.

Abstract: An apparatus and method of optimally correcting a static deflection caused by a weight of an end effector coupled to a robot arm or a load on the end effector when the end effector is activated to handle a large sheet of glass. A deflection angle of the end effector is corrected by inserting a compensation member into a joint of the robot arm, and the static deflection caused by the weight of the handling robot when conveying the sheet of glass is also corrected in real time.

Abstract: Disclosed is a parallel mechanism structure for controlling three-dimensional position and orientation. In the parallel mechanism structure according to the present invention, three links are connected to the main spindle of the mechanism and driven in vertical and horizontal direction, with a consecution that the main spindle connected to the three links achieves the six d.o.f motions. The structure includes three links comprised of a first link transferred along a circular vertical guide and second and third links transferred along corresponding rectilinear vertical guides and a circular horizontal guide on which the circular vertical guide and the two rectilinear vertical guides are horizontally transferred.