| The level of nuclear technology is an important manifestation of a country’s status and comprehensive national power,and currently Inertial Confinement Laser Fusion(ICF)is one of the main ways of artificial controlled nuclear fusion.Because of its high efficiency and reliability,it has now become the focus of research by various countries in the search for future clean fuel for nuclear fusion and new weapons.Micromanipulation and precision assembly are the key technologies to complete the assembly of ICF microdevices.The target devices contain complex parts with a large size span(from 50 μm to 5 mm).The required inspection assembly force between different parts is also across the order of magnitude(from 20μN to 10mN).Therefore,in order to meet higher assembly requirements,serialized and highly accurate force detection micromanipulation tools need to be designed.This paper designs and processes micro-operating tools that can accomplish different inspection accuracy and clamping functions for the target ball,gold cavity and sleeve parts with high assembly difficulty in ICF target devices respectively,solving the problem of rapid and stable clamping assembly of target parts in a small assembly space while realizing the detection of micro-operating force.The overall structure of the three operating tools based on the gimbaled wrist structure with three fingers is designed,and the feasibility of the operating tools is proved through the performance study of the three operating tools,and the control methods of different operating tools are designed;the corresponding experiments show that the use of the gripper based on the wrist structure can make the gold cavity and sleeve assembly controlled within 30s;the use of the target ball adsorber can make the whole assembly process completed within 50s,and the assembly The manpower required to assemble the target device is greatly reduced,so that the target quality is improved and the repeatability,success rate and assembly accuracy are greatly improved.The main research completed in this paper.The main research completed in this paper includes the following:(1)The target device assembly system was designed by analyzing the part characteristics of ICF target devices.The dimensional data of the parts and the assembly requirements were analyzed,and then the overall strategy of micro-device assembly was developed.Finally,the design of the overall assembly system was completed,which includes the target device clamping tool system,the auxiliary system and the inspection and monitoring system.(2)Based on the design principle of micro-target device operation tool,the target ball adsorber and gold cavity and sleeve gripper are designed.The target ball adsorber is divided into the adsorption part and the micro force detection part.The adsorption part can realize the target ball adsorption and the perception of micro force,and the detection part can complete the force information detection and reading.The threefinger gripper based on the gimbal wrist structure is driven by a miniature stepper motor and uses the wrist structure and strain sensors to complete the detection of microdeflection.The two-finger gripper is driven by a permanent magnet synchronous motor,and the gripping force is controlled by a magnetic orientation control strategy to ensure that the part is not damaged during gripping.(3)The performance study of the series of grippers was completed.Firstly,the target ball parameters were determined by the mechanical analysis of the target ball during adsorption.Then the fluid analysis was performed for the part of the target ball gripper that completes the adsorption.For the three-finger gripper,mechanical modeling,kinematic and static analyses were performed.Then the maximum tensionable amount obtained by finite element simulation can complete the clamping of the gold cavity.The three-finger gripper is driven by permanent magnet synchronous motor and controlled by FOC.The principle of FOC control is analyzed and the transmission mechanism of two-finger gripping is finite element analyzed.Finally,by analyzing the mechanical model of the gold cavity-sleeve assembly and the mechanical model of the target ball-clamping film assembly,the control strategies of the three operation tools are developed.(4)A series of clamping assembly experiments of the micro-manipulation tool were carried out.The results of the target ball assembly experiments show that the holder can stably adsorb the target ball and can collect the contact force signal of about 8 μN during the target ball assembly process.The designed three-finger gripper can detect the minimum 0.01° change of assembly angle during the assembly process.The gripping force calibration of the two-finger gripper and the gold cavity assembly experiment were completed.Finally,the three grippers were used to complete the assembly experiments of the whole ICF target device.The experiments showed that the assembly process of ICF target device could be completed within 50s,which greatly improved the assembly efficiency and success rate of ICF... |
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