Research On Foam Assembly System For Z-pinch Wire Array

With the increasing energy consumption of human society, it is imminent to develop anew kind of energy which is regarded as the fundamental way to solve the energy crisis.Controlled nuclear fusion is a promising new energy sources with the advantage ofabundant resources and enormous release of energy. It attracts much more attention ofthe researchers around the world. The two main problems in nuclear fusion is to achieveignition temperature and constraints. Research results has shown that the Z-pinchinertial confinement fusion is an important new ways to achieve nuclear fusion. Thedynamic hohlraum is proven a high-power X-ray source to improve the conversionefficiency of inertial confinement fusion and is regarded as the preferred types of fusionenergy. The dynamic hohlraum is composed of a DT capsule, low-density foam columnand wire array target. The assembly of dynamic hohlraum is an important part in thefields of nuclear target preparation.In this paper, according to the assembly task requirement of low-density polymerfoam column and wire array, a foam semi-automatic assembly system was designed andthe key technologies of foam gripping and pose adjustment based on visual wasresearched.Afterwards the related experimental studies was carried out on the launchedassembly platform.First of all, based on the task analysis, the overall assembly strategy of foamsemi-automatic assembly system was studied and the assembly process of foam andwire array was planned in detail. Each module was designed separately and the systemscheme of foam pose adjustment based on dual micro-visions was designed.Secondly, considering of the low mechanical properties and bad self-sustainingcapability of foam itself, the mechanical properties of foam was tested. A vacuumfixture for non-destructive foam clamping was designed. The contact analysis of foamand the vacuum fixture was simulated.On the basis of mechanics analysis, the design ofa vacuum system was achieved.Next,in the research of pose adjustment strategy based on dual vision, the imagepositioning algorithm of the assembly targets was studied. Then the vision system andmotion system was modeled and analyzed respectively and the relationship between thevarious modules was established. After that, the pose adjustment strategy based ononline image Jacobian matrix estimation was studied and was analyzed by simulation.The simulation results verified the feasibility of the pose adjustment strategy.Finally,the semi-automatic assembly system platform for foam and wire array wasset up, the experimental debug software was developed. The performance characteristicsof the vacuum system was tested. The foam gripping and pose detection experiments was carried out. Finally, the assembly experiment of foam and wire array showed thefeasibility and effectiveness of the system.