Automated mastering of holographic waveguide displays with robot-mounted optics

Automated recording of holographic waveguide displays is limited by the simultaneous need for highly adjustable beam angles exceeding the waveguide's critical angle and centimeter-scale recording beams. We report the first automated holographic waveguide recording platform, to our knowledge, combining two six-axis robot-mounted collimators with a custom edge-lit prism system. Exposure poses are computed from target grating vectors, including shrinkage compensation and polarization alignment, using inverse ray tracing and robot kinematics. Calibration yields mean angular accuracy better than 0.1°, and interferometry shows phase stability within ±λ/20 during recording. A fabricated 2D eyebox-expanding validation sample transmits readable text, and its modulation transfer function is evaluated. We analytically explain a pupil-sampling-induced intensity modulation in the laser-scanned image. The presented fabrication platform accelerates prototyping and supports the industrialization of holographic waveguide displays.