Research On The Modification Control Technology Based On The Robot Airbag Polisher

Optical components are widely used in space optics,aerospace,laser fusion,biological medicine and other fields,but the processing of ultra-precision optical components is always a difficult problem.Polishing is the last process of processing ultra-precision optical components.The machining equipment and technical means are of great importance to the accuracy of the surface type.Due to the high price of traditional CNC machine tools,it is difficult to realize the large-scale application of optical processing.With the rapid development of industrial robot technology,robots with their high degree of freedom to enter the optical manufacturing industry.In order to meet the requirements of high precision and high efficiency processing of optical components,Combining the new airbag polishing technology with industrial robot,it is an important research direction to develop a set of airbag polishing system for robot optical components.Firstly,the paper analyzes the airbag polishing technology and its basic theory,including the Preston theory of the airbag polishing material removal model,the airbag polishing movement mode,the airbag polishing contact area and the processing process.Then it completed the construction of the airbag polishing system for the optical components of the robot,which is mainly composed of industrial robots and control cabinet,computers,airbag polishing tools,workpiece turntable,air supply and vacuum control system,abrasive circulation system,etc.This paper mainly introduces the design of air supply and vacuum control system and rotating worktable,and designs a pull rod type airbag polishing tool to make up the defect on the basis of the original moving seal airbag polishing tool,and finally briefly introduces the polishing process software,and explains the application advantages of the process software.Then the model of airbag polishing control is analyzed.To gasbag polishing robot system in the base coordinate system,flange coordinate system,tools and the workpiece coordinate system and so on four as a benchmark,and the gasbag polishing tool and workpiece based on the mathematical relationship,put forward a kind of robot pose algorithm can achieve face type,and discusses the kinematics of the robot control process.Finally,the proposed pose algorithm is used to calculate the aspheric components,and the attitude control of all points on the whole surface is realized.Secondly,the calibration method of airbag polishing tool and workpiece coordinate system is discussed.After a detailed analysis of the TCP position calibration and TCF attitude calibration of the traditional tool coordinate system of the robot,a new parameter calibration method of airbag polishing tool is proposed based on this and combined with the practical application of airbag polishing tool.Finally,the experiment is carried out and compared with the traditional 3-point method,and the results show that the calibration accuracy of this method is better than that of the traditional method.After the parameter calibration of the airbag polishing tool is completed,the workpiece coordinate system is established with the built-in method of the robot system to meet the actual machining requirements.Finally,the processing experiment of the spherical mirror with full diameter of 120 mm was carried out.The experimental equipment adopted the built robot airbag polishing system,and the ball coronal airbag head with a diameter of 60 mm was used for polishing experiment.The processing process is divided into three stages: rough casting,fine casting and modification.The whole experiment lasted about 7 hours,and the material removal amount was about 15 ?m.The surface accuracy converges from PV value 4.132 ? and RMS value 1.039 ? to 0.506 ? and 0.159 ?.The experimental results show that the shape of the spherical mirror converges obviously,which proves that the robot airbag polishing is an effective optical processing technology.