Polishing Tool Control System For Large Size Optical Polishing Robot

The advanced optical manufacturing technology deals with optical, precisionmachinery, testing, materials, electronic systems and computer control, and otherdisciplines. Space optical, astronomy, aerospace, laser fusion, laser directional high-techplan, almost involve large size components manufacturing, large diameter opticalmanufacturing has become active in contemporary science and technology at theleading edge of the indispensable key supporting technology. With the rapiddevelopment of the astronomical telescope in recent years, more and more big diameter,pore size and increase, and diameter of4m even larger, more and more is also highaccuracy. Therefore, suitable for large diameter aspherical mirror material, highefficiency, low consumption, precision processing technology has become aninternational optical processing industry pursue goal. The project team aims to developlarge diameter of aspherical processing platform, for from large load6axis industryrobot as the foundation, homemade end effecter-the polishing head in grindingequipment.This paper mainly for industrial robots in modern optical processing applications,based on the development of industrial robots of large diameter optical polishinggrinding head. Prophase survey, theory and computer simulation, dynamics modeling,polishing experiment and done a lot of research methods. Combined with thecharacteristics of large load industrial robots and during the process of grinding andpolishing of the large diameter optical mirrors, design a planet type rotating mechanismand flexible processing function of mechanical arm end actuator as polishing andgrinding head. The system can well satisfy the operation of the mechanical arm andpolishing process to the large diameter aspherical local polishing.In order to improve the polishing process effect of the optical processingequipment, a novel constant speed control system based on planetary mechanism isdesigned. By constructing a2-axis model of PMSM and decoupling function, thecontrol system give a effective treatment to the nonlinearity and dual-axis torquecoupling of the disc speed in grinding planetary rotation bodies. With multi-mode PID,coupling torque compensation and a composite control algorithm based on locationfeedback of friction feedforward compensation, the controller has reduced the systemcoupling, inhibited the effects of interference in the work environment and improved the system control precision.In order to improve the large diameter optical polishing equipment processingtechnology, this paper has the planet type rotational structure at the end of theimplementation of the base, and put forward a kind of high precision, high stability ofthe pneumatic pressure control system. To solve the system design of the pneumatic keytechnical problem. From the whole the design of the system to analyze the executivedevice’s working principle and the pneumatic part of the different parameters on theeffect of control, in order to guide pressure control system design. By using pressuresensor and proportional valve and much group double modal PID control algorithm isconstructing the closed-loop pressure control system, in order to realize high precision,high stability of the pads pressure control.According to industrial robot and working environment the special requirements,design of the independent grinding head control cabinet, safety protection measures,module type interface, reliable communication protocol, make grinding head andmechanical arm can operate independently and mutual cooperation.