| With the improvement of the energy for the next phase of ICF(Laser Inertial Confinement Fusion) device, and the increasing of laser beams, and the types and numbers of LRUs(Line Replaceable Units) also increases, which brings new challenges to the alignment and installation ability of the bottom loading equipment. Maintaining harsh cleanliness 100 requirement for LRUs, installing and replacing LRUs efficient haven’t done well by similar equipment, so it is necessary to study the technology of clean-precision alignment and installation LRUs. The paper designs an efficient bottom loading equipment. to meet the requirement of clean-precision alignment and installation LRUs.The paper puts forward a plan to meet the overall requirements of bottom loading equipment. First leveling mechanism adjusts the chassis, then 3-PRP planar parallel alignment mechanism precisely aligns LRUs to right position and orientation, finally passive compliant mechanism compensates position and orientation deviation during its installation.The paper finishes virtual prototype of bottom loading equipment based on Proe/E. The paper establishes finite element model of "loading" and "lifting" working conditions of bottom loading equipment using APDL command of ANSYS. The anterior six natural frequencies and mode shapes are extracted to analyze dynamic characteristic of bottom loading equipment. The analysis results of ANSYS show that the deformation and stress of the structure are within the allowable range, and bottom loading equipment has proper strength, stiffness and stability.The paper analyzes the key technologies of precision alignment and installation LRUs, bottom loading equipment can level, precisely align and flexibly install LRUs. The paper adopts "flat chasing style" leveling method to adjust the chassis to ensure security and stability in the leveling process. The paper gets its workspace and dexterity in various position and orientation by Matlab based on kinematic analysis of alignment mechanism. The paper studies how structure parameters of alignment mechanism lead to errors, by analyzing the influence of structure parameters of alignment mechanism to position and orientation error, and comparing the influence of structure parameters of alignment mechanism. Finally the paper proposes a way to improve kinematic accuracy. According to analysis of three stages of compliance assembly, the paper acquires the analytical expression of assembly forces at each stage. The paper compares the impact of various parameters to the assembly force, which provides theoretical basis to LRUs’ s assembly.Based on dynamic analysis of alignment mechanism using the equivalent Finite Element Integrate Method, second-order and third-order transformation matrix are derived, the finite element assembly method is adopted to get system equivalent mass matrix and equivalent force matrix, further the paper gets the dynamic equation. The paper gets the dynamic response curve of alignment mechanism based on kinematic and dynamic simulation analysis of alignment mechanism using ADAMS. |
