Heavy-Calibre Off-Axis Aspheric Surface Polishing By Industrial Robot

An ABB IRB6640 industrial robot is used as a processing platform for optical polishing. The relationships of coordinate systems are defined, the algorithm of coordinate transformation, Euler angles and quaternion are provided. M-like removal function and Gaussian-like removal function are used to simulation process an off-axis aspheric surface. The surface error after polishing by M-like removal function is 1.5 to 2.5 times bigger than Gaussian-like removal function. This proves that M-like removal function also has good convergence speed. Then, the pentagram polishing head is used to polish a Phi 600mm off-axis paraboloid surface. After 15 cycles, about 120 hours processing, PV converges from 5.8 mu m to 0.836 mu m, RMS converges from 1.2 mu m to 0.054 mu m, PV and RMS respectively converge 85% and 95%. The experiment shows M-like removal function has good convergence speed.