多机器人协同光学加工技术

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关键词：多机器人协同光学加工；光学超精密制造;积分去除函数;轨迹规划;高效光学制造中图分类号：TP242.2;TH74 文献标志码：A doi：10.37188/CO.2025-0020 CSTR：32171.14.CO.2025-0020

Abstract： 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 addressthe 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=18.310λ 1 λ=632.8nm ）and RMS -1.788λ ， the final surface achieved PV=4.873λ and RMS =1.113λ . In addition， within the effective range of 120mm diameter， PV=4.661λ and RMS =0.857λ converged to and RMS=0.622λ after processing. The total execution time was 3.943h ，with the maximum execution time for a single processing unit being 2.041h ，representing a 1.93-fold improvement over single-tool processing. This method significantly enhances processing eficiency， ensures surface shape accuracy，and holds great potential for the manufacturing of large-aperture optical components.

Key words： multi-robot collaborative optical processing; optical ultra-precision manufacturing; integral remaval function; trajectory planning; eficient optical manufacturing

1引言

光学反射镜是光学系统的核心元件，其发挥着不可替代的作用，在深空探测，航天遥感等领域中应用广泛。（剩余13604字）