Robot Polishing Technology of Spherical Grinding Head with Revolution and Rotation Motion Based on Constant Pressure Control

被引：3

作者：

Huang Z. ^{[1
]}

Wu X. ^{[1
,2
]}

Liu H. ^{[2
]}

Wan Y. ^{[2
]}

Zheng X. ^{[2
]}

Chen X. ^{[1
]}

机构：

[1] School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu

[2] Institute of Optics and Electronic, Chinese Academy of Sciences, Chengdu

来源：

Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2020年 / 31卷 / 05期

关键词：

Optical polishing; Polishing pressure; Polishing tool; Removal function;

D O I：

10.3969/j.issn.1004-132X.2020.05.003

中图分类号：

学科分类号：

摘要：

Aiming at the problems that the fluctuation of polishing pressures was caused by positioning errors of industrial robot and thus the stability of removal function was affected during the polishing processes of large-aperture optical elements, a kind of robot polishing method of spherical grinding head with revolution and rotation motion based on constant pressure control was proposed. The structure, working principle, positioning characteristics of the robot and output characteristics of polishing pressure were studied. Firstly, the material removal model was constructed based on Preston theory, the shapes of the removal function were analyzed, and the mechanics mechanism and working principle of the designed polishing grinding head were introduced. Then, the positioning errors of the robot as well as the response and stability of the output forces of the grinding head were measured, which proved that the proposed method might adapt to the pressure fluctuation of robot polishing and make the corresponding force response control. Finally, the fixed point polishing and rough and precision polishing experiments were carried out. The experimental results show that the removal function is stable by using the proposed method. After 10 cycles of rough and precision polishing, the convergence rates of the surface are as 90.95% and 72.61% respectively, and may obtain high machining precision and quality. © 2020, China Mechanical Engineering Magazine Office. All right reserved.

引用

页码：519 / 526

页数：7

共 21 条

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