用于具有极坐标（R-θ）运动学的微型6.2毫米间距光纤定位机器人的直线运动（R-FLEX）
Linear motion (R-FLEX) for minature 6.2 mm pitch optical fiber position robots with polar (R-theta) kinematics
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中文总结 AI 辅助
研究为下一代光谱望远镜仪器开发R-FLEX机构，将挠曲基座小旋转转化为光纤尖端大径向运动，经多环节开发测试，其精度等性能超Spec-S5要求，是通用可量产平台，能满足宇宙大尺度结构研究对光谱收集的需求。
中文摘要 AI 辅助
R-FLEX是一种紧凑、零件数量少的基于挠曲的径向定位机构，专为下一代大规模并行光纤馈送光谱望远镜仪器设计。当前仪器如暗能量光谱仪（DESI）采用间距10.4毫米的5000个机器人光纤定位器，未来调查需要更高的封装密度，因此需要新的定位技术。R-FLEX机构将挠曲基座处的小旋转转换为光纤尖端处大的、几乎无倾斜的径向运动，在紧凑的5.8毫米直径封装内实现自然的低间隙直线运动。结合旋转θ平台，可实现6.2毫米间距的重叠圆形巡逻区域。通过参数建模和优化、有限元分析、制造和原型测试进行开发。原型单元通过光学质心定位，在3.9毫米行程范围内实现校正后的径向精度始终优于4微米RMS，最大光纤倾斜0.092度，在所需范围内散焦42微米，每个机器人在极端工作和生存温度下对超过400,000个目标具有耐久性。针对完整的R-θ机器人规定了初步的Spec-S5精度、散焦和光纤倾斜要求，这些径向平台结果超过了这些要求，为配套的θ平台留出了余量。参数优化管道使R-FLEX成为一个通用的、可大规模生产的平台，可针对Spec-S5以外的精密定位应用重新优化。这为收集数亿个光谱以进行宇宙大尺度结构的新研究提供了所需的精度、紧凑性和可靠性。
英文摘要
R-FLEX is a compact, low-part-count flexure-based radial positioning mechanism designed for the next generation of massively parallel fiber-fed spectroscopic telescope instruments. Current instruments such as the Dark Energy Spectroscopic Instrument (DESI) employ 5,000 robotic fiber positioners at 10.4 mm pitch, whereas future surveys require 2.5-3x higher packing density, necessitating new positioning technologies. The R-FLEX mechanism converts small rotations at the flexure base into large, nearly tilt-free radial motion at the fiber tip, achieving naturally low-backlash linear motion within a compact 5.8 mm diameter package. Coupled with a rotating theta-stage, this enables overlapping circular patrol areas at 6.2 mm pitch, as envisioned for projects like Spec-S5. Development proceeded through parametric modeling and optimization, finite element analysis, fabrication, and prototype testing. Prototype units characterized by optical centroiding achieved a corrected radial accuracy consistently better than 4 um RMS over a 3.9 mm travel range, with maximum fiber tilt 0.092 deg, defocus 42 um over the required range, and durability over more than 400,000 targets per robot across operating and survival temperature extremes. Preliminary Spec-S5 accuracy, defocus, and fiber tilt requirements are specified for the complete R-theta robot, and these radial-stage results exceed those requirements, leaving margin for the companion theta-stage. A parametric optimization pipeline makes R-FLEX a versatile, mass-producible platform that can be re-optimized for precision-positioning applications beyond Spec-S5. This offers the precision, compactness, and reliability needed to collect hundreds of millions of spectra for new studies of the large-scale structure of the universe.
