Home / Store / Journals / Electronic Articles / Fusion Science and Technology / Volume 59 / Number 1 / Pages 70-77
R. C. Montesanti, E. T. Alger, L. J. Atherton, S. D. Bhandarkar, C. Castro, E. G. Dzenitis, G. J. Edwards, A. V. Hamza, J. L. Klingmann, D. M. Lord, A. Nikroo, T. G. Parham, J. L. Reynolds, R. M. Seugling, M. Stadermann, M. F. Swisher, J. S. Taylor, P. J. Wegner
Fusion Science and Technology / Volume 59 / Number 1 / Pages 70-77
Format:electronic copy (download)
The Precision Robotic Assembly Machine was developed to manufacture the small and intricate laser-driven fusion ignition targets that are being used in the National Ignition Facility. The machine enables one person to assemble a high-quality precision target in 1 day with repeatable quality. The target assembly technician provides top-level control of the machine, initiating and controlling the movement of the motorized precision instruments. Hand movements are scaled to precision at the 100-nm level. Sensors embedded in the manipulator system provide 100-mg resolution force and gram-millimeter resolution torque feedback of the contact loads between delicate components being assembled with micrometer-level or no clearance. Combining precision motion control with force and torque feedback provides active compliance for assembling tightly fitting or snap-together components. The machine provides simultaneous manipulation of five objects in a 1-cm3 operating arena and can stitch together multiple millimeter-scale operating arenas over distances spanning tens of centimeters with micrometer-level accuracy. Technology developed with the machine has been migrated to other machines used to assemble fusion targets.
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