Research On Mechanical Mechanics Of Optical Machine Module Based On Active And Compliant

In the Inertial Confinement Fusion(ICF)experiment,a large number of optomechanical modules need to be mounted to the specified location of the laser device.In order to ensure a high precision of the laser device,this places high demands on the installation accuracy of the optomechanical module.Among them,the bottom mounted optical module(hereinafter referred to as the optical module)is one of the important optical modules,and it has many types,high height,and sheet shape.These optomechanical modules need to be installed in the special box(cleaning compartment)of the laser device.The mounting of the cabinet and the optomechanical module is small,the interior is dark,and it is difficult to observe.The harsh working environment is given to the optomechanical module.It is very difficult to install school.In this paper,the assembly process of the optomechanical module is regarded as the process of shaft hole assembly,and the mechanical analysis of the module is performed based on the idea of shaft hole assembly.By referring to the idea of active and compliant shaft hole matching,this paper introduces a school-based idea of the active compliant optical machine module to complete the installation of the optomechanical module.Firstly,this paper analyzes the type and installation process of the optomechanical module,proposes the functional requirements of the gantry mechanism,and designs a optomechanical module assembly mechanism with six degrees of freedom on the upper surface of the gantry.A six-dimensional force sensor is arranged for the active and smooth assembly of the optomechanical module.The school assembly mechanism is composed of two layers of devices in series,which are a horizontal adjustment platform and a plane adjustment platform.The structure of the horizontal adjustment platform is 3-PSP/PSS,and the structure of the plane adjustment platform is 3-PPR.Then,the calculation of the degree of freedom and the inverse calculation of kinematics are carried out for the six-degree-of-freedom installation mechanism,which guarantees the completeness of the degree of freedom of the installation mechanism and provides a theoretical basis for the motion control of the six-degree-of-freedom installation mechanism.Secondly,combined with the six-dimensional force sensor,the mechanical analysis of the contact situation that may occur during the process of mounting the optical module is carried out,and the posture judgment method when the optical module is contacted is derived.In the process of optomechanical module installation,the process of contacting the optomechanical module with the clean compartment is divided into the mating contact phase of the optomechanical module(the contact phase between the optomechanical module and the chamfer of the clean compartment)and the contact phase of the module in the clean compartment.Among them,the docking contact phase can be divided into four situations: single-point contact,two-point contact,multi-point contact,and edge contact;the module is in the contact phase in the clean room,and the contact may cause the optical module to jam.Then,combined with the six-dimensional force sensor,the mechanical analysis of the contact situation of the optomechanical module during the loading process is carried out,and the attitude adjustment strategy of the optomechanical module under different contact conditions is derived.Through the force analysis of the different poses of the optomechanical module,using the Xie Guofang Euler angle calculation formula,the Euler angle of the pose change of the optomechanical module under different poses is calculated,and the optomechanical module under the corresponding pose is obtained.Position adjustment strategy.Finally,based on the Adams software,the pose judgment and pose adjustment of the optomechanical module assembly process are simulated,and the partial proofing machine experiment is carried out to verify the correctness of the pose judgment formula and the pose adjustment formula.It provides an effective reference for solving the problem of the installation of the lower optomechanical module in the harsh installation environment.