Precise Assembly Method And Experimental Research Of ICF Key Components Based On Micro-force Sensing

Fusion experiments are of great significance both in terms of energy security and national defense security.As a key component in laser-confined fusion physics experiments,micro-target parts directly affect the success or failure of fusion ignition experiments.Micro-target parts are usually assembled from multiple tiny parts.These tiny parts often have the characteristics of cross-scale,irregularity,and easy deformation,and also have high requirements for assembly accuracy.The traditional micro-target assembly relies on manual assembly by professional technicians,and the assembly efficiency and success rate are low,which cannot meet the research of the constantly developing micro-target experiments.Therefore,the research on the assembly method of micro-target parts is of great significance for the micro-target test.The micro-target devices in the field of laboratory fusion research involved in this paper are mainly the key parts of Inertial Confinement Fusion(ICF),which are irregular in shape and have a small working space during assembly.Due to occlusion and other reasons,it becomes difficult to use microscopic vision to obtain the assembly status of parts in real time.In order to ensure the high-efficiency and high-precision assembly requirements of ICF key parts,it is necessary to obtain the assembly state of parts in a small and complex assembly environment through micro-force sensing.In this paper,based on the analysis of the micro-force perception method and the research status of precision assembly at home and abroad,aiming at the basic characteristics of ICF key parts and the analysis of its assembly process,a flexible micro-assembly system with micro-vision and micro-force perception is designed.Related experimental studies are carried out.The main research contents of this paper include the following points:(1)The design of the hardware part of the flexible micro-assembly system is completed.According to the assembly requirements of ICF key parts,the overall hardware composition of the micro-assembly system is determined,and the main structure of the micro-assembly platform is designed.A composite range micro-force sensor is designed and prepared for the high-precision detection index of the target pellet.(2)The design of the control part of the flexible micro-assembly system is completed.Based on the design of the hardware part of the micro-assembly system,the overall composition of the control system is determined,the kinematics model of the micro-assembly platform is analyzed,and the kinematics analysis and workspace calculation are carried out.Design of servo control algorithm for assembly system.(3)The mechanical model of the micro-assembly object and its manipulator is established,and the force contact state of the assembly is analyzed;on the basis of the mechanical analysis,the assembly strategy of the ICF parts is designed in combination with the micro-assembly system,including the sleeve assembly-gold The assembly strategy of cavity assembly and the half-cavity assembly-diagnostic ring-target pill assembly strategy,the visual guidance of the assembly and the specific process of force control are explained in detail through the state diagrams from different perspectives,which provides a good basis for the subsequent micro-assembly experiments.policy support.(4)The experimental study of the micro-assembly system is carried out.The calibration and performance test of the flexible support platform is completed,the resolution test experiment of the composite range micro-force sensor was formulated,and the sensor was calibrated.Finally,the assembly verification experiment of the ICF parts is carried out based on the micro-force perception,and the final experimental results proved that the micro-assembly system and assembly control strategies are effectiveness.The experimental results show that the force detection range of tens of micronewtons to several millinewtons can be achieved for the target pellets,and the force detection accuracy of millinewtons can be achieved for the sleeve assembly-gold cavity and the half-cavity assembly-diagnosis ring,which can meet the assembly requirements of the parts.need.