面向光学装置高精加工的并联机器人同步误差控制策略研究  

Research on synchronization error control strategy of parallel robots for high-precision machining of optical devices

作　　者：杜晓坤[1] DU Xiaokun(School of Intelligent Manufacturing and Information Engineering,Shaanxi Vocational and Technical College of Energy,Xianyang 712000)

机构地区：[1]陕西能源职业技术学院智能制造与信息工程学院,陕西咸阳712000

出　　处：《机械设计》2024年第12期84-89,共6页Journal of Machine Design

摘　　要：光学加工机器人是加工超高精光学器件的主要仪器,但其在超高精加工中存在明显的同步控制误差,限制了光学器件精密度的进一步提升。为了提高光学加工机器人的加工精度,该研究对其并联模块进行了动力学分析,并进行了改进优化。结果显示:经过误差补偿后,光学加工机器人的末端误差可减小至0.05 mm以下,横向误差可减小至0.015 mm以下,纵向误差可减小至0.005 mm以下。研究提出的光学加工机器人控制策略有效减小了加工过程中的误差,提高了光学器件的精密度,有助于设计制造精度更好的天文望远镜,促进天文学领域的发展。Optical machining robots are main instruments for ultra-high precision machining of optical devices,but there are obvious synchronization control errors in this aspect,which limits the further improvement in precision of optical devices.In order to improve the processing accuracy of optical processing robots,this study conducted dynamic analysis on their parallel modules and made improvements and optimizations.The results show that after error compensation,the end error of the optical machining robot reduces to below 0.05 mm,the lateral error reduces to below 0.015 mm,and the longitudinal error reduces to below 0.005 mm.Therefore,the control strategy for optical machining robots effectively reduces errors in terms of machining and improves the precision of optical devices.As a result,astronomical telescopes with better precision will be designed and manufactured,which promotes the development of astronomy.

关 键 词：机器人 误差控制 光学加工 动力学 并联模块 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]