Gripper Design Of Large Aperture Mirror And Its Clean Precision Assembly Experiments

The optical path of high energy solid-state laser device includes tens of thousands of various types of optical components. Clean and precision assembly of these optical components is to ensure that solid-state laser device of the necessary conditions for a good run. The current assembly of large aperture mirror is mainly by artificial and grapple lifting which is low level of automation, low cleanliness and labor-intensive. It has been unable to meet the requirements of a large number of the assembly of large aperture mirror. Taking consideration of the technical characteristics of the assembly of large aperture mirror, a set of large aperture mirror gripper was developed. The assembly technology of large aperture mirror was researched.According to the actual working conditions and technical principles of the assembly of large aperture mirror, the overall design objectives and design specifications of the gripper were presented. Three kinds of vacuum chuck grippers were designed and analyzed. A detailed structural design of one kind of vacuum chuck gripper was made. The simulation analysis of key component was performed. The prototype of the vacuum chuck gripper was manufactured. The finite element model of large aperture mirror was established and the PV value and RMS value of large aperture mirror were calculated after grabbing. The wavefront of large aperture mirror can meet the design requirements.The kinematic equations of KUKA KR 210 robot were established using the method of DH parameters, which solved work space of the robot. The key interpolation point of the assembly track of large aperture mirror was designed. The corresponding inverse kinematics was found. The trajectory planning of each joint of the robot using cubic spline function was performed. Then trajectory planning of the assembly of large aperture mirror was completed. A finite element model of KUKA KR 210 robots was established. Statics structural analysis was performed. In order to prevent the occurrence of resonance which will affect motion accuracy of the robot, modal analysis of the robot in its initial zero position and orientation position which is the most dangerous position was made.The reliability of the vacuum chuck gripper was verified by experiment. When the robot moves at its maximum speed, it can ensure the reliability of large aperture mirror. The experimental verification of cleaness of the vacuum chuck which contact with large aperture mirror directly was performed. The vacuum chuck of NBR material can meet the cleaness requirements of large aperture mirror. The experimental verification of the assembly track of large aperture mirror was performed. The assembly technology of this paper can complete the assembly of large aperture mirror. The repeatability of KUKA KR 210 robot is ±0.03 mm, which can meet the precision requirements of the assembly of large aperture mirror. Stiffness calibration of industrial robots was made. The stiffness of each joint of the robot was identified. A solid theoretical and technical basis for the engineering application of precision assembly technology of large aperture mirror was laied.