ICF靶支撑定位机器人系统研究3

198Vol.19,No.820078HIGHPOWERLASERANDPARTICLEBEAMSAug.,2007:100124322(2007)0821303205ICF31,1,1,1,2,2(1.,150080;2.,621900):(ICF),,6,,:,m,:ICF;;;;:TP242.3:A(ICF),,,,[1][2],41RochesterLLE[3]OMEGA,3,1,1,2Livermore(LLNL)[4]NIF,3,257,,,,66,,;3,1,,,1,,6,3,3,,,3m,31mrad,,,,,,,,,,,,,,,,,,,22.1,,m3:2006209222;:2007205215::(1964),,,,;[e-mail].1Positionoftargetpositioningrobot11,6,6,CCD,,,6,,,,6,,12,6,3(x,y,z)3(x,y,z)10mm,1m/step2,1/step1z3601,,6,1,,32,,66,,Fig.2Constructionoftargetpositioningrobotsystem22.2666,,(2),3,66Fig.36degreeoffreedomprecisionparallelrobotsubsystem3666,662PTRT[528],1,21,z,,m,,,,403119,,,,6,6,,,0.05m,,6,6,,,,,6m,6,,z,62,6,z360,Fig.4Targettransportsubsystem4,,,2.3,6,6,,4,,z1.7m,,,,,,,,,2.45,6;,6Fig.5Targetexchangesubsystem5Fig.6Targetstoragesubsystem6,3,1,1,3,50318:ICF,,366,,6,6,1,,1,,,,6,6,,,,6,,,,3,,,0.01mm,1m0.01mLVDT,0.5rad6,30,,11Table1Parametersofrobotsystemparameterrequirementtestresultxaxispositionmotionrange10mm10mmxaxispositionmotionresolution1m/step1.00.2m/stepyaxispositionmotionrange10mm10mmyaxispositionmotionresolution1m/step0.90.3m/stepzaxispositionmotionrange10mm10mmzaxispositionmotionresolution1m/step1.00.2m/stepxaxisorientationmotionrange22xaxisorientationmotionresolution1’/step60.07.1yaxisorientationmotionrange22yaxisorientationmotionresolution1’/step56.76.3zaxisorientationmotionrange22zaxisorientationmotionresolution1’/step59.25.2lagerscaleorientationmotionrange3603601,6,3,3,360,,61,,,3(x,y,z),CCDCCDxy,CCDz,,,CCDx3.14m,y2.81mCCDx2.24m,y0.40mCCDz0.67m,,,31.5m,,,,603119,,,,,,,,35m32,2min6;32m30.5,5minm6,4,,:6,,,m,:[1],,,.[J].,2000,27(2):1352139.(DaiYP,HuangGL,LiXC,etal.Precisiontargetpositioningbydigitalspecklecorrelationmeasurement.ChineseJournalofLasers,2000,27(2):1352139)[2],.[J].,1999,26(3):58263.(RuanLJ,LiYD.Apositioningtableforfivesfreedomsimulatingtarget.Opto2ElectronicEngineering,1999,26(3):58263)[3]LLE.TheOMEGAtarget2positioningsystem[R].Rochester:LLE,1997:1452159.[4]KarpenkoV,GibsonW,McDonaldA,etal.Targetareasystem[R].UCRL2LR210582129723,1997:1662179.[5],,.[M].:,1997.(HuangZ,KongLF,FangYF.Theoryofmechanismandcontrolofparallel2robot.Beijing:MechanicalIndustryPress,1997)[6]MerletJP,DaneyD.Dimensionalsynthesisofparallelrobotswithaguaranteedgivenaccuracyoveraspecificworkspace[C]//Proceedingsofthe2005IEEEInternationalConferenceonRoboticsandAutomation,2005,(18222):9422947.[7]LeeSH,SongJB,CholWC,etal.ControllerdesignforaStewartplatformusingsmallworkspacecharacteristics[C]//Proceedingsofthe2001IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems,2001,4(4):218422189.[8]AndreffN,MartinetP.VisualservoingofaGough2Stewartparallelrobotwithoutproprioceptivesensors[C]//ProceedingsoftheFifthIn2ternationalWorkshoponRobotMotionandControl,2005:2252230.ICFtargetpositioningrobotsystemSUNLi2ning1,LIUYan2wu1,QUDong2sheng1,LIChang2feng1,FENGBin2,WANGLi2quan2(1.RoboticsInstitute,HarbinInstituteofTechnology,Harbin150080,China;2.ResearchCenterofLaserFusion,CAEP,P.O.Box9192988,Mianyang621900,China)Abstract:Basedonthefunctionanalysisoftargetpositionerforinertialconfinementfusion,akindofICFtargetpositioningrobotsystemisdesignedtorealizetheadjustmentandthealignmentofatarget.Therobotsystemincludesatargetstoragesub2system,atargetexchangesubsystem,atargettransportsubsystemanda62degreeoffreedomprecisionparallelrobotsubsystem,thestructureandprincipleofeverysubsystemaredissertated.Thesystemrealizesmicroscalepositionbyparallelstructurewhichisinthefrontofthesystem,andhastheadvantagesoflowmass,highstiffness,smallconeangle,smallvolumeandhighpreci2sion.Therobotsystemcanpositionatargetintoaverysmallmicroscalescopearoundthecenterofthetargetchamberwhosedi2ameterisseveralmeters,theprecisionofthepositionreachesmicroscale.Motionparameterofthepositioningrobotsystemhasbeentested.Experimentprovesthattherobotsystemhasrealizedprecisiontargetpositionandtargetexchangeontheconditionofvacuum.Keywords:ICF;Target;Position;Parallel;Robot70318:ICF