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.