Research On Computer Aided Optical Processing Technology Based On Industrial Robot

With the deepening of people's understanding of the universe,the technology of astronomical telescopes has been continuously innovated,creating a large-scale astronomical telescope with ever-increasing aperture.The increase in the aperture of large astronomical telescopes has increased the number of segmented mirrors,posing a challenge to the cost and efficiency of existing optical manufacturing technology.However,the traditional CNC optical machining tools are difficult to realize large-scale application for optical processing due to their high cost.It makes industrial robots have great potential for application in optical processing,which is economic cost,flexible processing,widely used.In this context,this article studies the optical processing technology of industrial robots.The main research contents of the thesis include the following aspects:(1)Based on the classical CCOS theory,the basic theory of robotic optical processing,the composition of the robot optical processing system,and the processing flow are discussed.Then,based on the robot accuracy theory,the influence of absolute positioning error of robot on optical processing results is analyzed.(2)The numerical simulation method was used to simulate the removal function of the polishing pad tool of dual rotator according to the Preston assumption.A universal algorithm is proposed for the polishing pad of complex shape and experimentally verified.At the same time,a simulation experiment was performed on the edge removal function.The simulation found that when the overhang ratio E?0.2,the edge removal function changed little,and during the polishing,it should not exceed 0.2 of the polishing pad tool's radius,which can effectively control the influence of the edge effect.(3)According to the basic theory of optical processing,the dwell time algorithm is studied.After the establishment of the spatial variable removal function convolution model,the general RL algorithm is generalized,and the new algorithm can perform the simulation calculation of the spatial variable removal function.Due to the nonlinear effects of the algorithm,the efficiency for solving large-scale dwell times can be greatly improved.The influence of machining trajectory on optical processing was studied.Hilbert curve and Fermat spiral curve trajectory were introduced,which enriched the choice of machining trajectory.(4)On the robot platform,the diameter ?606 off-axis aspherical mirror was processed.After 17 times of processing by the robot,the total time was about 243 hours,and the convergence effect was obvious.The aspherical mirror surface map converges to 0.8745?m(1.382?)and 0.0772?m(0.122?)from a PV value of 16.5?m and an RMS value of 1.4?m,respectively.The whole process is processed on the robot platform,and the surface shape is converged,indicating that the processing technology is effective.The use of robots to process large-diameter aspheric surfaces is a feasible and effective technical means.