Influence of robotic structural deformation on bonnet polishing removal function

Q4 Engineering

强激光与粒子束 Pub Date : 2021-05-20 DOI:10.11884/HPLPB202133.200293

Lin Zewen, W. Zhenzhong, Huang Xuepeng, Kong Liuwei

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引用次数: 0

Abstract

Precision polishing system for opticals based on bonnet polishing technology and industrial robot can not only meet the requirements of high efficiency and precision of rapid polishing, but also reduce the development cost, thus it is a potential development solution for polishing. Bonnet polishing requires stable and deterministic material removal characteristics, and the stability of polishing spot is usually around 90%. The influence of robot stiffness on the stability of robot bonnet polishing system in the process of multi-step discrete precession polishing was studied. The robot end deformation was analyzed by the stiffness matrix, and the removal function of bonnet polishing with deformation error was established based on Preston theory. Finally, a four-step discrete polishing experiment was designed. According to the results, the polishing spot was Gaussian on the xy section contour line, and the xy section contour line was basically the same, with a good coincidence degree. Comparison of the cross-section profiles at different polishing positions indicates, the relative errors are below 5%. The experiment proves that the robot bonnet polishing system has a good stability in discrete precast polishing.

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机器人结构变形对阀盖抛光去除功能的影响

基于阀盖抛光技术和工业机器人的光学精密抛光系统既能满足快速抛光的高效率、高精度要求，又能降低开发成本，是一种极具发展潜力的抛光解决方案。阀盖抛光需要稳定和确定的材料去除特性，抛光点的稳定性通常在90%左右。研究了多步离散进动抛光过程中机器人刚度对机器人阀盖抛光系统稳定性的影响。利用刚度矩阵对机器人端部变形进行分析，并基于Preston理论建立了具有变形误差的阀盖抛光去除函数。最后，设计了四步离散抛光实验。结果表明，抛光斑在xy截面等高线上呈高斯分布，与xy截面等高线基本一致，重合程度较好。对比不同抛光位置的截面轮廓，相对误差在5%以下。实验证明，机器人发动机罩抛光系统在离散预制件抛光中具有良好的稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

强激光与粒子束 Engineering-Electrical and Electronic Engineering

CiteScore

0.90

自引率

0.00%

发文量

11289