Design of ICF target positioning robot system

In inertial confinement fusion (ICF) experiment, target positioner is needed to position the target within a very small micro scale scope around the center of target chamber whose diameter is several meters. A kind of ICF target positioning robot system with 12 Degree of Freedom (DOF) is designed to realize the adjustment and alignment of target. The robot system includes 6 DOF precision parallel robot subsystem, target transport subsystem, target storage subsystem and target exchange subsystem, the mechanism structure and principle of every subsystem is dissertated. The system realizes micro scale position by parallel structure which is in the front of system, which make the system has the advantages of low mass, high stiffness, small cone angle, small volume and high precision. Control strategy based on the process and character of target position is studied. The iterative auto positioning method is brought forward, 6 DOF precision target position is realized by the loop adjustment of each DOF of the parallel robot. Experiments prove that the target positioning robot fulfilled accuracy requirement and has enough stability, and iterative auto positioning method is effective for target positioning.