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。

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 inverse kinematics of this manipulator is solved as the basic of designing the controlling system.