AI Article Synopsis
- The 6-DOF industrial robot is ideal for optical manufacturing due to its flexibility and cost-effectiveness, but its low trajectory accuracy can hinder the precision required for manufacturing optical components.
- A new system was developed to measure trajectory errors accurately, along with a compensation method that uses spatial similarity to improve the robot's positioning accuracy.
- Experimental results demonstrated that this compensation method significantly reduces trajectory errors and enhances the finishing accuracy of optical components, paving the way for better use of robots in intelligent optical manufacturing processes.
Article Abstract
The 6-DOF industrial robot has wide application prospects in the field of optical manufacturing because of its high degrees of freedom, low cost, and high space utilisation. However, the low trajectory accuracy of robots will affect the manufacturing accuracy of optical components when the robots and magnetorheological finishing (MRF) are combined. In this study, aiming at the problem of the diversity of trajectory error sources of robot-MRF, a continuous high-precision spatial dynamic trajectory error measurement system was established to measure the trajectory error accurately, and a step-by-step and multistage iterations trajectory error compensation method based on spatial similarity was established to obtain a high-precision trajectory. The experimental results show that compared with the common model calibration method and general non-model calibration method, this trajectory error compensation method can achieve accurate compensation of the trajectory error of the robot-MRF, and the trajectory accuracy of the Z-axis is improved from PV > 0.2 mm to PV < 0.1 mm. Furthermore, the finishing accuracy of the plane mirror from 0.066λ to 0.016λ RMS and the finishing accuracy of the spherical mirror from 0.184λ RMS to 0.013λ RMS using the compensated robot-MRF prove that the robot-MRF has the ability of high-precision polishing. This promotes the application of industrial robots in the field of optical manufacturing and lays the foundation for intelligent optical manufacturing.
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| http://dx.doi.org/10.1364/OE.474959 | DOI Listing |
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