Research And Design Of Large Scale Optical Polishing Robot System

At present, optical telescope is developing rapidly in the world. As increase of observe distance, widen of waveband, the demands for large scale optical surfaces turn into larger qualities, higher precision and bigger caliber. However, the disadvantages of great difficulty, low efficiency, high cost in optical manufactoring restrict the advance and application of industries. Therefore, it’s becoming critical to develop new automatial technology and equipments to adapt to large scale optical surfaces precision effective polishing demand.Analysis of large scale optical surfaces processing technology defines the design requirements. Summarizing the common construction of industrial robot arm and wrist,paper proposals the 6-DOF serial robots with prismatic and revolute joints.This thesis establishes robot model by D-H parametric method and computing forward and inverse kinematic formula. The virtual prototyping of the polishing robot is created based on MATLAB with the assist of Robotic Toolbox. The operating space verifies that the robot is capable of polishing large surfaces with diameter of 2 meters.Trajectory planning is carried out both in cartesian coordinate space and joint space and the trajectory planning algorithm is validated by the experiments of straight line, circle,helical line movement. Results proves both trajectory planning and structural parameter reach the expected goal. Control system consists of high performance industrial computer APC820, intelligent servo driver ACOPOSMulti and real time industrial ethernet Power Link.A prototype robot is built to investigate the polishing capacity on the22′2m glass platform. Results meet the desired effects. Theoretical analysis and experimental result indicate that the presented 6-DOF serial hybrid robot provides reference value and application value in large optical surfaces polishing field.