Resaearch On Precision Polishing Technology On Aluminium Mirror Using Industrial Robot Bonnet Polishing

With the development of science and technology,optical elements are widely used in optical system.As a kind of commonly used optical reflector material,aluminum alloy has been applied more and more widely due to its advantages of good emissivity,light weight design and low cost.At present,the pure mechanical polishing of aluminum mirror is still in the groping stage,because the aluminum alloy is soft and hard to be polished directly.As a new polishing method,bonnet polishing has the advantages of good flexibility and high efficiency.In order to make full use of the flexible polishing of bonnet polishing and the ability of flexible movement of industrial robot,this paper combines the six-axis industrial robot with airbag polishing to carry out the research on bonnet polishing technology on aluminum mirror element.Firstly,the robot bonnet polishing machine is built.Based on the existing ABB robot IRB4600-60/2.05 and its supporting facilities,the experimental platform of robot bonnet polishing system was designed and built.On this basis,the research on the precession motion algorithm of bonnet polishing is carried out,so as to achieve the accurate control of the posture of the bonnet tool at the end of the robot.Secondly,according to the requirements of system coordinate calibration on robot bonnet polishing movement,do the design of the spherical TCP calibration algorithm of the spherical bonnet tool at the end of the robot,carry out corresponding simulation and verification experiment,and then carry out TCP calibration of the head bulb,so as to convert the final calibration of the probe TCP to the bonnet heart TCP.Starting from the demand of the bonnet polishing process,developing bonnet precision polishing robot system software with C# development language,including the design and programming of the polishing operation module,communication module and auxiliary function module,so as to realize the bonnet polishing robot path planning and motion control,to ensure that the aluminum mirror polishing processing flexibility and efficiency.Finally,based on the developed robotic bonnet polishing system,a series of bonnet polishing experiments of aluminum mirror element(AL 6061 aero-aluminum)were conducted.The ability of precision polishing of aluminum alloy in the robot bonnet polishing system was verified by experiments,including the spot-control experiment of aluminum alloy elements,the rough polishing or precision polishing experiment of polyurethane bonnet and the finishing experiment of wool felt bonnet and damp cloth bonnet.