Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 116-120 |
| Number of pages | 5 |
| Journal | Guangxue Jishu/Optical Technique |
| Volume | 36 |
| Issue number | 1 |
| State | Published - Jan 2010 |
| Externally published | Yes |
Keywords
- Large mirrors
- MCM
- Manipulator
- Polishing
- Position equation