| Citation: | SHI Feng-hua, LI Long-xiang, LIU Xi-ming, PENG Li-rong, CHEN Hao, LI Xing-chang, CHENG Qiang, ZHANG Xue-jun. Multi-robot collaborative optical processing[J]. Chinese Optics. doi: 10.37188/CO.2025-0020
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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 optical components was designed, and three feasible trajectories were simulated for analysis. The discrete simulation results were then used to establish principles for selecting trajectory parameters. To address the limitation 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 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=4.661 λ, RMS=0.857λ, converged to PV=2.465λ and RMS=0.622λ after processing. The total execution time was 3.943 hours, with the maximum execution time for a single processing unit being 2.041 hours, 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 manufacturing of large-aperture optical components.
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