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Proceedings Paper

Serial robot for the trajectory optimization and error compensation of TMT mask exchange system
Author(s): Jianping Wang; Feifan Zhang; Zengxiang Zhou; Chao Zhai
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Paper 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.

Paper Details

Date Published: 8 October 2015
PDF: 12 pages
Proc. SPIE 9678, AOPC 2015: Telescope and Space Optical Instrumentation, 967814 (8 October 2015); doi: 10.1117/12.2202379
Show Author Affiliations
Jianping Wang, Univ. of Science and Technology of China (China)
Feifan Zhang, Univ. of Science and Technology of China (China)
Zengxiang Zhou, Univ of Science and Technology of China (China)
Chao Zhai, Univ. of Science and Technology of China (China)

Published in SPIE Proceedings Vol. 9678:
AOPC 2015: Telescope and Space Optical Instrumentation
Bin Xiangli; Dae Wook Kim; Suijian Xue, Editor(s)

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