Simulation study of turntable-based multi-industrial robot collaborative optical machining technology

摘要

Large-aperture optical components are critical in aerospace, remote sensing, deep-space exploration, and other advanced fields, exhibiting growing demand. To address this demand, this study proposes a multi-industrial robot collaborative optical processing technology integrated with a rotating worktable with multiple industrial robots. The approach employs a spiral trajectory with optimized data-point distribution to ensure uniformity, using iteratively calculated angle increments between adjacent points to control the arc lengths precisely. Departing from traditional CNC machining strategies based on residence time, the method regulates material removal by adjusting the grinding head's rotational speed. Obstacle-avoidance schemes, designed around processing module dimensions, enable safe multirobot collaboration through systematic regional planning. Virtual machining simulations validate the proposed method on four distinct surface shapes: negatively rotationally symmetric, positively rotationally symmetric, three-lobed, and irregular. The results demonstrate significantly enhanced processing efficiency and surface accuracy compared with single-robot machining, reducing the machining cycle by more than 50% and demonstrating strong applicability and potential for large-aperture optical component fabrication.