Research On Mounting Technology Of Bottom Optical Module Based On Force Detection

Inertia Confinement Fusion(ICF)can produce large amounts of fusion energy,but its implementation requires the excitation of laser beam sets with high energy.A large-scale laser device installs a large number of optical modules in the laser beam set circuit to realize the ICF response.The core technology of the optical module installing is a precision mounting platform of realizing the adjustment of six degrees of freedom.The assembly process of the module has features such as heavy load,unequal stroke(up to 3500 mm in vertical direction,10 mm in other directions),cleanliness,precision,and long and narrow mounting position.After using machine vision to achieve the docking of the module and the clean room,the position of the module during the assembly process cannot be detected by the machine vision.Due to the heavy load,the mechanical structure will deform to a certain degree.The real-time pose of the module will change with the height of the module lift,resulting in the module’s position and posture can not be accurately predicted.During the assembly process of the module,the contact force between the module and the clean room too large,the resistance,and even the phenomenon such as module cannot be installed.Only the detection of the machine vision can not complete the task of mounting the module.So,force detection was introduced.This article starts with the six-degree-of-freedom precision mounting platform of the bottom loading system,responds to the project requirements,and studies the two aspects of motion and force measurement to achieve the installation of LRU modules based on force detection.The main contents are as follows:A six-degree-of-freedom precision mounting platform was proposed for the series-parallel hybrid mechanism.The degree of freedom was analyzed based on the functional requirements.The inverse solution analysis was performed on the upper and lower layer mechanism and the hybrid mechanism.The simulation of the example was verified by Matlab.Using the idea of measuring the six-dimensional force with a low-dimensional force sensor,a method for measuring six-dimensional force based on the 3-PRS/PSS mechanism was proposed.Combines the motion and force measurement capabilities of the 6-DOF precision mounting platform.The helix theory was used to derive the six-dimensional force solution method.The relationship between pose and contact force of the module in the process of assembly is analyzed in detail.The module position and posture adjustment method based on force detection is proposed.The process of module installation based on force detection is assisted by machine vision.Using Adams simulation software,the kinematics inverse solution and the six-dimensional force solution process were simulated and verified,and the force of the module in the actual project was simulated to verify the six-dimensional force solution.An error compensation method was proposed.Finally,a satisfactory result was obtained.It has certain practical value in practical engineering projects.