Research On Robot Polishing Technology Of Large Aspheric

With the development of science and technology and the improvement of people’s livingstandard, the demand for large aspheric parts grows day by day. In order to meet the quality andquantity requirements of large aspheric components and realize high efficiency and low costprocessing method， we urgently need to breaking through the traditional lapping, polishingoptical parts processing method and come up with new super precision lapping processingtechnology in the large complex optical aspheric components manufacturing.Robotic polishing system is one main automation means for polishing large caliber opticalaspheric components, due to the high surface quality and low manufacturing cost this meansbecomes hot spot for precision machining optical element, especially nano precision’s largediameter laser metal aspheric reflector, large aspheric mould and so on, But in Robotic polishingsystem there are displacement servo coupling, nonlinear position and pressure control interactionphenomenon so that it is difficult to improve to high polishing efficiency and quality. Based on theindustrial robot this paper will play the robot motion trajectory planning, design polishing toolswhich can online processing force/position control nonlinear interaction, and analysis large-scaleaspheric robot polishing mechanism, so that we can realize large aspheric robot polishingtechnology.In this paper the main work includes the following several sections.(1) Robot motion trajectory planning: First it sets up a kinematical model for a kind ofindustrial robots by D-H notation, and inverse kinematics solutions of its end effector are deducedaccording to its motion trail. By transforming the rotation angles of the robot’s joints into impulsesignals, pulse signals could be used to interpolate its motion trail. Finally, it uses Matlab softwareto join various curve of each joint impulse signal, and formulation a mathematical model aboutvarious curve of each joint impulse signal. In this way, it could simplify program in INFORM Ⅲlanguage. Simulation shows that direct pulse signal interpolation improves the accuracy oftrajectory positioning.(2) Large aspheric robot polishing system construction: On the one hand According toPreston hypothesis, by large aspheric robot polishing system it realizes to effective controlpolishing pressure, polishing speed and resident time; On the other hand it to solve tool head force-position-attitude coupling problem in polishing processing large aspheric parts and improverobot polishing system tool head force-position-attitude hybrid adaptive control performance. (3) According to the geometric operation, it constructs robot polishing processing system’skinematics model and dynamic model, describe large aspheric robot polishing processing system’sspeed and pressure distribution, and analysis large-scale aspheric robot polishing processing systemstability.(4) In the experiment robot polishing process is formulated: and experimental results areanalysised under different parameters. Experimental results and process are verified large asphericrobot polishing system’s feasibility and value.