Study On Wheeled Polishing Technology Based On Industrial Robot

Industrial robots are similar to human joints with large redundancy features.Compared with the three-coordinate structure,the robot can better adapt to those complex optical surface.By establishing a reasonable mathematical model,advanced processing experience of the senior workers are converted to digital and quantitative,and then under a reasonable design of polishing tools and polishing paths,it is expected to improve the shortcomings of low efficiency and subjective factors in the classical polishing of optical components.In this paper,based on the requirement and applicability of the robot polishing technology,a wheeled polishing tool with multi-axis robot controlled is used in this research,and a number of key problems in the polishing process of optical components are discussed:1.The advantages and disadvantages of the present precision machining equipment are analyzed.According to the characteristics and requirements of the optical polishing,an automatic NC polishing system is developed by using the computer controlled optical polishing theory,which includes the component platform,the polishing liquid circulation,the software algorithm and the polishing tool.2.The mathematic model of the wheeled polishing technique is established based on the Preston hypothesis.The pressure distribution of the contact area between the tool and the element is analyzed by using the finite element analysis method and the Hertz contact theory.The removal function of the wheeled polishing tool is deduced,and the corresponding dwell time function is verified.The results of theoretical analysis show that the removal function of the wheel polishing tool is in accordance with the Gauss distribution,and it can be used in the polishing process of precision components.3.The post-processing algorithm of multi-axis controlled equipment is deduced and analyzed.The machine code generation program is designed,and the control commands are generated according to the initial error.After several times of two dimensional surface error correction polishing experiments,the RMS and PV are decreased significantly which show the good ability of error convergence and high-frequency rejection,thus the system has basically met the expected results.The research results show that the wheeled polishing method based on industrial robot is a kind of effective surface polishing method;it can be used in optical processing,and has great potential in the polishing of high and medium precision components...