Serial robot for the trajectory optimization and error compensation of TMT mask exchange system

Jianping Wang; Feifan Zhang; Zengxiang Zhou; Chao Zhai

doi:10.1117/12.2202379

8 October 2015 Serial robot for the trajectory optimization and error compensation of TMT mask exchange system

Jianping Wang, Feifan Zhang, Zengxiang Zhou, Chao Zhai

Proceedings Volume 9678, AOPC 2015: Telescope and Space Optical Instrumentation; 967814 (2015) https://doi.org/10.1117/12.2202379
Event: Applied Optics and Photonics China (AOPC2015), 2015, Beijing, China

Abstract

Mask exchange system is the main part of Multi-Object Broadband Imaging Echellette (MOBIE) on the Thirty Meter Telescope (TMT). According to the conception of the TMT mask exchange system, the pre-design was introduced in the paper which was based on IRB 140 robot. The stiffness model of IRB 140 in SolidWorks was analyzed under different gravity vectors for further error compensation. In order to find the right location and path planning, the robot and the mask cassette model was imported into MOBIE model to perform different schemes simulation. And obtained the initial installation position and routing. Based on these initial parameters, IRB 140 robot was operated to simulate the path and estimate the mask exchange time. Meanwhile, MATLAB and ADAMS software were used to perform simulation analysis and optimize the route to acquire the kinematics parameters and compare with the experiment results. After simulation and experimental research mentioned in the paper, the theoretical reference was acquired which could high efficient improve the structure of the mask exchange system parameters optimization of the path and precision of the robot position.

Citation Download Citation

Jianping Wang, Feifan Zhang, Zengxiang Zhou, and Chao Zhai "Serial robot for the trajectory optimization and error compensation of TMT mask exchange system", Proc. SPIE 9678, AOPC 2015: Telescope and Space Optical Instrumentation, 967814 (8 October 2015); https://doi.org/10.1117/12.2202379

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
12 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Thirty Meter Telescope

MATLAB

Space telescopes

Photomasks

SolidWorks

Space robots

Telescopes

Show All Keywords

Keywords/Phrases

Search In:

Publication Years