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Multi-robot collaborative optical processing
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PRE
AI
DOI：10.37188/CO.2025-0020.png)
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摘要
En 中文
To improve the processing efficiency of large-aperture optical components, a multi-robot, multitool collaborative processing method was proposed. A collaborative layout that has been tailored to the optical components was designed, and three feasible trajectories were simulated for analysis. The discrete simulation results were then used to establish principles for selecting trajectory parameters. To address the limitation of discrete simulation in capturing the influence of trajectory continuity on the surface map, an integral removal function model adapted to the motion mode was introduced. Furthermore, a collaborative machining obstacle avoidance strategy was developed. The experimental results obtained using the optimal trajectory demonstrated that for an optical component with an initial surface shape of PV=18.310 lambda, (lambda = 632.8 nm) and RMS=1.788 lambda, the final surface achieved PV=4.873 lambda, and RMS=1.113 lambda. In addition, within the effective range of 120 mm diameter, PV=4.661, and RMS=0.857, converged to PV=2.465, and RMS=0.622, after processing. The total execution time was 3.943 h, with the maximum execution time for a single processing unit being 2.041 h, representing a 1.93-fold improvement over single-tool processing. This method significantly enhances processing efficiency, ensures surface shape accuracy, and holds great potential for the manufacturing of large-aperture optical components.
Keyword:
multi-robot collaborative optical processing
optical ultra-precision manufacturing
integral remaval function
trajectory planning
efficient optical manufacturing
