| 工业机器人在离轴非球面抛光中的坐标变换 |
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| 引用本文： | 郭晓凌.工业机器人在离轴非球面抛光中的坐标变换[J].科学技术与工程,2010,10(36). |
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| 作者姓名： | 郭晓凌 |
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| 作者单位： | 中国科学院上海技术物理研究所,上海,200083 |
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| 摘 要： | 提出了利用工业机器人模拟人工手修在光学器件抛光过程中的应用技术,并分析该技术的优势。在工业机器人加工过程中，对于曲面方程已知的自由曲面，要保持加工工具与被加工工件表面法线方向一直，提出了针对这种需求的空间坐标转换算法，并通过转换成机器人内部编程代码来实现。试验结果证明该算法稳定可靠，在机器人对自由曲面加工过程中保持路径上每个离散点保持工具垂直于镜面。
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| 关 键 词： | 工业机器人 非球面 坐标变换 抛光加工 |
| 收稿时间： | 2010/9/26 0:00:00 |
| 修稿时间： | 2010/10/18 0:00:00 |
The coordination conversation of off-axis asphere polishing with industrial robot |
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| Guo Xiaoling.The coordination conversation of off-axis asphere polishing with industrial robot[J].Science Technology and Engineering,2010,10(36). |
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| Authors: | Guo Xiaoling |
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| Institution: | GUO Xiao-ling,SHA Sheng-chun(Shanghai Institute of Technical Physics,Chinese Academy of Sciences,Shanghai 200083,P.R.China) |
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| Abstract: | Using industrial robot to imitate manual optical polishing is dicussed and the advantage is analyzed. In the processing, to meet the need of keeping the tool and the object surface vertical, a algorithm of coordination conversation according to the free curved-surface function is proposed. The test result suggests the feasibility and reliability of the algotithm and the tool is always vertical to the object suface by every discrete point in the polishing path. |
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| Keywords: | industrial robot off-axis asphere coordination conversation polishing |
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