机器人光学轮式公自转末端执行器设计  

Design of Robotic Optical Wheel Polishing End-Effector

作　　者：张建 赵俍骁[2,3] 安飞 ZHANG Jian;ZHAO Liangxiao;AN Fei(School of Mechano-Electrical Engineering,Xidian University,Xi′an 710000,China;Xi′an Institute of Optics and Precision Mechanics of CAS,Xi′an 710000,China;University of Chinese Academy of Sciences,Beijing 100000,China)

机构地区：[1]西安电子科技大学机电工程学院,西安710000 [2]中国科学院西安光学精密机械研究所,西安710000 [3]中国科学院大学,北京100000

出　　处：《机械科学与技术》2025年第4期648-654,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：陕西省重点研发计划(2018ZDXM-GY-105)。

摘　　要：随着多领域光学设备应用的发展,带来了对高精度的光学元件的广泛需求,进而带来了对各项指标和加工设备的新挑战。工业机器人的诸多优势为光学批量加工带来可能,也就需要针对性的设计紧凑高效的末端执行器。本文以光学加工过程中对于球面轮式抛光末端执行器的需求为出发点,研制一款能够提供稳定抛光压力,并且能够实现规定设计输入参数,满足现代光学加工智能化抛光要求的球面轮式抛光末端执行器。另外在结构设计过程中使用带传动取代圆柱直齿齿轮传动,传动效率由73.5%提高至85.7%。通过强度仿真、去除函数建模,以及φ145 mm的平面镜定点研抛和φ360 mm的非球面镜抛光实验,完整验证了所设计的末端执行器的性能,结果符合实际工程需求。With the development of optical equipment applications in many fields,a wide range of requirements for high⁃precision optical components have been brought,which brings new challenges to various indicators and processing equipment.Many advantages of industrial robots make it possible for optical batch processing.A compact and efficient end⁃effector are required to be designed and studied.Based on the requirements for spherical wheel polishing end⁃effectors in the optical manufacturing,an end⁃effector that can provide stable polishing force and achieve the specified design input parameters to meet the modern optical manufacturing is developed.In addition,the belt drive is used instead of gear in the structural design,and the transmission efficiency is increased from 73.5%to 85.7%.By conducting the strength simulations,removal function modeling,aφ145 mm flat mirror fixed⁃point polishing experiment and aφ360 mm aspheric mirror polishing experiment,the performance of the designed end⁃effector are fully verified.The end⁃effector is in line with actual requirements.

关 键 词：光学加工 球面轮式抛光 去除函数 末端执行器 工业机器人 

分 类 号：TH122[机械工程—机械设计及理论]