| 大口径光学元件五自由度抛光机械手的设计 |
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| 引用本文： | 王朋,李俊峰,宣斌,陈晓苹,宋淑梅,谢京江.大口径光学元件五自由度抛光机械手的设计[J].光学技术,2010,36(1). |
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| 作者姓名： | 王朋 李俊峰 宣斌 陈晓苹 宋淑梅 谢京江 |
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| 作者单位： | 1. 中国科学院长春光学精密机械与物理研究所,中国科学院光学系统先进制造技术重点实验室,长春,130033;中国科学院研究生院,北京,100039
2. 中国科学院长春光学精密机械与物理研究所,中国科学院光学系统先进制造技术重点实验室,长春,130033 |
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| 摘 要： | 多模式组合抛光大口径光学元件是提高加工效率和加工精度的有效方法。作为加工系统的重要组成部分,抛光机械手的设计是实现多模式加工的关键。分析了多模式加工的主要运动方式,提出了对抛光机械手的具体要求。设计了一种5自由度抛光机械手,介绍了其主要结构。由D-H法建立了机械手的坐标系,推导出其位姿方程并求得逆解,为后续控制系统的设计奠定了基础。
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| 关 键 词： | 大口径光学元件 多模式 抛光 机械手 位姿方程 |
Design of large mirrors polishing manipulator with 5-DOF |
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| WANG Peng,LI Jun-feng,XUAN Bin,CHEN Xiao-ping,SONG Shu-mei,XIE Jing-jiang.Design of large mirrors polishing manipulator with 5-DOF[J].Optical Technique,2010,36(1). |
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| Authors: | WANG Peng LI Jun-feng XUAN Bin CHEN Xiao-ping SONG Shu-mei XIE Jing-jiang |
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| Institution: | 1.Key Laboratory of Optical System Advanced Manufacturing Technology;Changchun Institute of Optics;Fine Mechanics and Physics;Chinese Academy of Sciences;Changchun 130033;China;2.Graduate School of Chinese Academy of Sciences;Beijing 100039;China |
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| Abstract: | Multi-mode Combine Manufacturing(MCM) is an effective approach to increasing the production efficiency and precision for large mirrors.The polishing manipulator is an important part of the MCM system.The main kinetic mode of MCM is analyzed.The technical requirements of the polishing manipulator are presented.A 5-DOF polishing manipulator is designed and its mechanical structure is introduced.The reference coordinates of the manipulator are built based on D-H method and the position equation is deduced.The ... |
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| Keywords: | large mirrors MCM polishing manipulator position equation |
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