The Kinetic Characteristics Analysis For The Optical Processing Robots

With the wide application of optical systems,the demand for optical components is increasing.In order to meet the requirements of large quantity and low cost production of optical components,the optical manufacturing industry must find out a high-efficient,high-accuracy,economical and practical processing method.After years of development,many new technologies,such as ion beam,magneto-rheological fluid,air bag,have been produced in optical manufacturing.However,these processing equipment are often expensive,and some of these processing equipment cannot process large or complex workpieces because of space limitation.The high flexibility optical processing system based on the industrial robot,can process special optical components.According to the arm-rigid of now available robot is low,and existing the defect of high positioning error in optical process,this paper set the optical processing robot as the object of study,and carried out the research work,which according to motion characteristics,that including the following aspects:1.Based on Princeton assumption and Linear shift invariant assumption,the material removal model was established.The three kinds of common motion modes and the corresponding removal function models of grinding lap were analyzed.The dwell time algorithms of robot processing control model was discussed.2.Based on Denavit-Hartenberg(DH)robot description method,the robot link coordinates and kinematics models of the optical processing robots were established,which was being simulated in Matlab verified the kinematic models were as same as controller s'.In this paper,the method of calibrating the grinding tool coordinate system and the method of calibrating the workpiece coordinate system were put forward.On the basis of the above analysis,the coordinate transformation and the principle of surface orientation were analyzed.3.A method for measuring repeat positioning error,absolute positioning error,processing points error and motion precision of the optical processing robots by laser tracker was proposed.On the basis of measurements,the influence of positioning error on the dwell time and the processing path was analyzed.The influence on the dwell time and the removal rate was also calculated by the simulation.4.To verify the impact on optical processing,which caused by positioning error of the optical processing robot:SIAI robot was used to polish ?130mm flat mirror uniformly.Through error compensation,the removal rate error reduced from 53.38 nm to 26.64 nm.The above research results are applied to the optical processing: SIAI and Staubli robots were used to process the ?500mm off-axis parabolic mirror,which has a total of 26 processing cycles from rough grinding to pre-polishing,and the surface error was reduced from 51.2832 um to 3.7151 um.During the processing,the processing efficiency increased by 5~10% with using the error compensation method.