One of the most popular methods for high precision lens assembly of an optical system is using an autocollimator and a rotation stage. Some companies provide software for calculating the state of the lens along with their lens assembly systems, but the calculation algorithms used by the software are unknown. In this paper, we suggest a calculation method for lens alignment errors using ray transfer matrices. Alignment errors resulting from tilting and decentering of a lens element can be calculated from the tilts of the front and back surfaces of the lens. The tilt of each surface can be obtained from the position of the reticle image on the CCD camera of the autocollimator. Rays from a reticle of the autocollimator are reflected from the target surface of the lens, which rotates with the rotation stage, and are imaged on the CCD camera. To obtain a clear image, the distance between the autocollimator and the first lens surface should be adjusted according to the focusing lens of the autocollimator and the lens surfaces from the first to the target surface. Ray propagations for the autocollimator and the tilted lens surfaces can be expressed effectively by using ray transfer matrices and lens alignment errors can be derived from them. This method was compared with Zemax simulation for various lenses with spherical or flat surfaces and the error was less than a few percent.
In previous works, the possibility of the electrostrictive polymer as the actuator use has been proved. In this paper we address an actual design of an actuator and an inchworm type robotic mechanism using the electrostrictive polymer. The robot will be developed to move horizontally, vertically with steering capability, aiming for navigation in small tubular structures such as flexible pipes but now in this stage a simple bellows type robot capable of accomplishing the linear movement like that of an inchworm is introduced. The issues about the mechanism design of the prototype, which has already been developed and under the consideration of reduction in size, are discussed and preliminary results of experiments are given.