Design of Robotic Optical Wheel Polishing End-Effector

张建; 赵俍骁; 安飞

doi:10.13433/j.cnki.1003-8728.20230163

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Design of Robotic Optical Wheel Polishing End-Effector

更新时间：2026-04-23

- Design of Robotic Optical Wheel Polishing End-Effector
- Mechanical Science and Technology for Aerospace Engineering Vol. 44, Issue 4, Pages: 648-654(2025)
- 作者机构：
  
  1. 西安电子科技大学机电工程学院,西安,710000
  2. 中国科学院机构西安光学精密机械研究所,西安,710000
  3. 中国科学院大学机构,北京,100000
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230163
  CLC：
- Published：2025
- 稿件说明：
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张建, 赵俍骁, 安飞. Design of Robotic Optical Wheel Polishing End-Effector[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(4): 648-654.
DOI：

张建, 赵俍骁, 安飞. Design of Robotic Optical Wheel Polishing End-Effector[J]. Mechanical Science and Technology for Aerospace Engineering, 2025, 44(4): 648-654. DOI： 10.13433/j.cnki.1003-8728.20230163.

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∅145 mm的平面镜定点研抛和∅360 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。

Abstract

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

a ∅145 mm flat mirror fixed-point polishing experiment and a ∅360 mm aspheric mirror polishing experiment

the performance of the designed end-effector are fully verified. The end-effector is in line with actual requirements.

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