ICF靶支撑定位机器人系统研究  

ICF target positioning robot system

作　　者：孙立宁[1] 刘彦武[1] 曲东升[1] 李长峰[1] 冯斌[2] 王礼权[2] 

机构地区：[1]哈尔滨工业大学机器人研究所,哈尔滨150080 [2]中国工程物理研究院激光聚变研究中心,四川绵阳621900

出　　处：《强激光与粒子束》2007年第8期1303-1307,共5页High Power Laser and Particle Beams

基　　金：教育部机器人及机电一体化技术创新团队计划项目资助课题

摘　　要：在对惯性约束核聚变(ICF)靶支撑定位功能分析的基础上,设计并制造了一套用于靶精密定位机器人系统,主要包括靶库机构、换靶机构、送靶机构和6自由度精密并联机器人机构,论述了各部分的工作原理和组成。系统在末端采用并联机器人来实现对靶的精密定位,测试了靶场环境下系统的运动指标。测试结果显示:系统可在真空条件下实现对靶的精确定位、换靶、送靶工作,靶定位精度达到μm级,定位时间随精度的提高而延长。Based on the function analysis of target positioner for inertial confinement fusion, a kind of ICF target positioning robot system is designed to realize the adjustment and the alignment of a target. The robot system includes a target storage subsystem, a target exchange subsystem, a target transport subsystem and a 6-degree of freedom precision parallel robot subsystem, the structure and principle of every subsystem are dissertated. The system realizes micro scale position by parallel structure which is in the front of the system, and has the advantages of low mass, high stiffness, small cone angle, small volume and high precision. The robot system can position a target into a very small micro scale scope around the center of the target chamber whose diameter is several meters, the precision of the position reaches micro scale. Motion parameter of the positioning robot system has been tested. Experiment proves that the robot system has realized precision target position and target exchange on the condition of vacuum.

关 键 词：ICF 靶 定位 并联 机器人 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]