中国光学（中英文）2025，Vol.18Issue(6)：1353-1364,12.DOI:10.37188/CO.2025-0020
多机器人协同光学加工技术
Multi-robot collaborative optical processing
摘要
Abstract
To improve the processing efficiency of large-aperture optical components,a multi-robot,multi-tool collaborative processing method was proposed.A collaborative layout that has been tailored to the optic-al components was designed,and three feasible trajectories were simulated for analysis.The discrete simula-tion results were then used to establish principles for selecting trajectory parameters.To address the limita-tion 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(λ=632.8 nm)and RMS=1.788λ,the final surface achieved PV=4.873λ and RMS=1.113λ.In addition,within the effective range of 120 mm diameter,PV=4.661λ and RMS=0.857λ converged to PV=2.465λ and RMS=0.622λ after pro-cessing.The total execution time was 3.943 h,with the maximum execution time for a single processing unit being 2.041 h,representing a 1.93-fold improvement over single-tool processing.This method significantly enhances processing efficiency,ensures surface shape accuracy,and holds great potential for the manufactur-ing of large-aperture optical components.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Key words
multi-robot collaborative optical processing/optical ultra-precision manufacturing/integral re-maval function/trajectory planning/efficient optical manufacturing分类
信息技术与安全科学引用本文复制引用
石丰华,李龙响,刘夕铭,彭利荣,陈昊,李兴昶,程强,张学军..多机器人协同光学加工技术[J].中国光学（中英文）,2025,18(6):1353-1364,12.基金项目
国家重点研发计划(No.2022YFB3403405) （No.2022YFB3403405）
国家自然科学基金(No.62275246) （No.62275246）
国防科工局技术基础科研项目(No.JSZL 2023130B00) （No.JSZL 2023130B00）
省预算内基本建设资金-新兴产业自主创新能力提升工程(No.2024C001,No.2022C047-3)Supported by National Key Research and Development Program of China(No.2022YFB3403405) （No.2024C001,No.2022C047-3）
National Natural Science Foundation of China(No.62275246) （No.62275246）
Defense Industrial Technology Development Program(No.JSZL 2023130B00) （No.JSZL 2023130B00）
Provincial Budget Capital Construction Funds-Emerging Industries Independent In-novation Capability Enhancement Project(No.2024C001,No.2022C047-3) （No.2024C001,No.2022C047-3）
