Microforce Sensing and Flexible Assembly Method for Key Parts of ICF Microtargets
Abstract
:1. Introduction
2. Structure of Half-Hohlraum Component
3. Design and Analysis of the Supply Assembly System
3.1. Design of the Part Gripper
3.1.1. Silion Arm Adsorber
3.1.2. Flexible Support Platform
3.1.3. Design of Six DoF MicroMotion Platform
3.2. Mechanical Modeling Analysis
- Assume that the assembly object is a rigid body (ignoring deformation).
- Assume that the assembly process is a quasistatic equilibrium process, ignoring the effect of inertial forces generated by the acceleration of the assembly object.
- Assume that the dynamic and static friction coefficients during the assembly process are equal.
3.2.1. Mechanical Modeling Analysis of the Adsorber
3.2.2. Mechanical Modeling Analysis of the Platform
3.2.3. Kinematic Analysis of Micromotion Platforms
4. Assembly Strategy for TMP-Hohlraum Component
4.1. Visual Guidance in Assembly
4.2. Force Guidance in Assembly
5. Assembly Experiment
5.1. Performance Testing of Flexibly Support Platform
5.2. Assembly Experiment
5.2.1. Posture Adjustment Based on Visual Guidance
5.2.2. Force Guidance in TMP-Hohlraum Component
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Parameters | Index |
---|---|
Range | Fx, Fy: ±12 N; Fz: ±17 N; Tx, Ty, Tz: ±120 N·mm |
Overload protection | 3.1 to 13.8 times F.S. |
Unidirectional linearity | <0.05%F.S. |
Coupling error | <0.5%F.S. |
Response frequency | 7200 Hz |
Parameters | Index |
---|---|
Sensitivity | 2.0 ± 0.05 mV |
Overload protection | ≤150%F.S. |
Nonlinear | ≤±0.03%F.S. |
Operating temperature | −20~80 °C |
Excitation voltage | 10–15 V |
Model | Itinerary | One—Way Positioning Precision | Repeatability Accuracy |
---|---|---|---|
KXL06050 | 50 mm | 5 μm | ±0.3 μm |
KXL06075 | 75 mm | 5 μm | ±0.3 μm |
KRW04360 | 360° | 0.05° | ±0.01° |
KRW06360 | 360° | 0.05° | ±0.01° |
KGW04040 | ±8° | — | ±0.005° |
i | αi−1 | ai−1 | di | θi |
---|---|---|---|---|
1 | 0 | 0 | d1 (0–70 mm) | 0 |
2 | −90° | a1 (42 mm) | d2 (0–50 mm) | 90° |
3 | 90° | a2 (46 mm) | d3 (0–70 mm) | −90° |
4 | −90° | 0 | d4 | θ4 (−90° ± 180°) |
5 | −90° | 0 | 0 | θ5 (−90° ± 120°) |
6 | 90° | 0 | d6 | θ6 (−90° ± 180°) |
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Chen, T.; Ni, K.; Zhu, M.; Sun, L. Microforce Sensing and Flexible Assembly Method for Key Parts of ICF Microtargets. Actuators 2023, 12, 1. https://doi.org/10.3390/act12010001
Chen T, Ni K, Zhu M, Sun L. Microforce Sensing and Flexible Assembly Method for Key Parts of ICF Microtargets. Actuators. 2023; 12(1):1. https://doi.org/10.3390/act12010001
Chicago/Turabian StyleChen, Tao, Kejian Ni, Minglu Zhu, and Lining Sun. 2023. "Microforce Sensing and Flexible Assembly Method for Key Parts of ICF Microtargets" Actuators 12, no. 1: 1. https://doi.org/10.3390/act12010001