本文结合机器人控制和轮式抛光技术的优点，开展了轮式技术研究。运用数值仿真模拟其抛光加工，论证了轮式抛光工具在精密元件抛光过程中的可行性；设计了可在机器人末端安装的轮式抛光工具，分析机器人轮式抛光控制逻辑和控制框架，建立基于轨迹和驻留时间的机器人抛光控制模型；开展机器人轮式抛光单点去除特性和环带去除特性性能测试实验，确定机器人轮式抛光工艺参数，实现样件表面整体自动研抛加工，面形误差由初始值PV：2.357λ，RMS：0.565λ，收敛到PV：1.431λ，RMS：0.242λ，初步达到预期的去除效果。研究表明，工业机器人轮式抛光方法是一种有效的表面抛光方法，在中高精度飞非球面元件的抛光中具有很大的潜力。

The wheeled polishing technique based on industrial robot is established by combining the advantages of robot control and wheeled polishing technology. The feasibility of wheeled polishing tool in high-precision polishing processing is validated by numerical simulation. The wheeled polishing tool installed at the end of the robot is designed, and the robot wheeled polishing control logic and framework are analyzed, thus a robot polishing control mode based on trajectory and dwell time is established. By carrying out the experiments of robot’s single-point and belt removal characteristics, the parameters of robot wheeled polishing processing are confirmed. At last, the automatic polishing processing of the mirror surface is done. The surface error decreases from the initial value of components PV: 2.357λ (RMS: 0.565λ) to PV: 1.431λ (RMS: 0.242λ) as expected. As the research shows, the industrial robot with wheeled polishing tool is an effective surface polishing method, which has great potential in high-precision aspherical mirrors.