Research On Coordinated Assembly Motion Planning Of Dual Manipulators For Laser Fusion Cavity Target

Nuclear fusion energy has many advantages,such as abundant reserves,clean and sustainable energy,and it has high military and social value.Human beings hope to realize the control of fusion nuclear reaction and apply the energy produced by nuclear fusion to human daily life and social production.Laser confinement fusion(LCF)is one of the main ways to realize controlled nuclear fusion(CNF).As the main operating device of LCF experiment,the manufacturing accuracy of cavity target is an important factor affecting the success of the experiment.At present,most of the cavity target assembly methods are manual assembly or using the existing micro assembly system,the assembly efficiency is not high,and the flexibility is poor.Therefore,this paper develops a set of multi manipulator coordination micro assembly system to realize the efficient assembly of laser fusion cavity target parts.Firstly,through the analysis of the butt assembly task of laser fusion cavity target,the key technology in the assembly process is determined.On this basis,the overall scheme of multi-operator coordinated assembly is formulated,and the design and construction of the multi-operator coordination assembly system is further carried out.The micro assembly system uses two macro micro operators to coordinate the assembly of the cavity target,which has high flexibility and assembly efficiency.Secondly,the collision free path planning and trajectory planning of macro micro manipulator are studied.An improved robot motion planning process for micro fine operation is proposed.Compared with the traditional industrial robot motion planning process,the improved motion planning process has higher planning efficiency.In the aspect of collision model building,an improved method of reducing enclosure box is proposed.This method can be applied to the fine task with small operation space and has high collision detection accuracy.At the same time,the coordination relationship between the two macro micro operators is studied.According to the whole assembly process of cavity target,the operator is planned for unconstrained coordination and constraint coordination,and the coordinated operation of double operators such as collision avoidance,collaborative handling and real-time alignment is realized.A software coordination control system composed of human-computer interaction interface and visual simulation software is designed.Finally,the micro vision image processing technology is studied,and the experiment of automatic positioning and picking up of macro micro combination manipulator is carried out;The assembly strategy of micro shaft hole is designed and the experiment of micro shaft hole assembly is carried out;The assembly strategy of the cavity target half cavity assembly is formulated,and the half cavity butt assembly experiment is carried out.Through the coordinated movement of micro motion module of two manipulators,the assembly accuracy within 10 μm can be ensured,and the assembly efficiency can be effectively improved.