Process Optimization For Robot Ballonet Polishing Of Large Aspherical Parts

With the development of modern high-technology, optical parts are more and more widelyneeded in every walk of life, especially in large aspheric parts the quality and quantity requirementsgrow from month to month. The traditional methods of polishing processing which are limited bypolishing tools;working-space;processing cost or something else may not meet the processingpequirements of large aspheric part.So we must try our best to come up with the new idea abouthow to increase efficiency and low the cost.Ballonet Polishing which is proposed in nineties is a new polishing technology. It can obtainbetter quality by using precession movement or setting drift angle. optical parts are be processedfrom every direction. But in current research, the researchers use position control to control thepolishing force, which do not solve the postion and force coupling.Robotic polishing system base on the industry robot. Through moving polishing tool which isinstalled in robot’s end-effectors, the robotic polishing system completes processing work.So weneed to study how to optimize the polishing tool’s structure and polishing technology.To try to solve the above problem, the main work includes the following sections.(1)Analyse the main characteristics about gasbag polishing, optimize the dwell time: Base onthe famous preston material removal equation, deduce the contact area expression, pressuredistribution and velocity distribution expressions of polishing contact area. take removal quantityinto consideration, calculate the various points’ dwell time. Then use ADAMS and ABQUSsimulation softwares to validation results.(2)Improve the polishing tool: Based on the present studies, design the gasbag polishing tooland optimize accessory structures. Through the experiment, make sure the relationship betweeninput and output.(3)Improve pneumatic control system: using electro pneumatic proportional valve and PLC toachieve real-time control. Combine with mathematical models and system identification theory onthe pneumatic control system, determine system’s transfer function. Using Simulink to simulationthe system, Confirm the PID control’s parameter. Write PLC programs.(4) Accomplish robot off-line programming system: making use of Matlab to deduce thekinematical and inverse kinematics solutions. And then using ADAMS、Matlab、Pro\e to complete three-dimensional robot kinematics simulation. Combine with Industrial Robot Languageand C programming language，Write a programs which need input polishing tracks then outputRobot assembly language.(5) the robot ballonet polishing experimental platform is set up to verify the feasibility andeffectiveness of above program.