Precision robotic system designed for hohlraum assembly

According to the assembly accuracy of NIF REV4.0 for fusion ignition targets, the assembly process and precision robotic system for hohlraum assembly were analyzed. The tolerance range of the hohlraum inserted into the TMP (thermal mechanical package) was determined. The precision robotic system was designed. There were 12 motorized stages, one laser sensor and one 6-axis force/torque sensor in the system. The repeatabilities of the motorized stages were 0.3 m and 0.01. The level attitude and the force status of the targets could be detected by the laser sensor and the 6-axis force/torque sensor. Hohlraum and LEH insert were assembled by the system. The axis distance and angle of hohlraum and TMP were less than 8 m and 0.5. The experiment results of the hohlraum assembly by the system verified the feasibility of the assembly process and the system functions.