Research on Automated Microassembly Technology for ICF Target Core Microdevices Based on Teleoperation

IF 5.3 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-09-25 DOI:10.1109/LRA.2025.3614545

Hongwei Deng;Kejian Ni;Xiepeng Yang;Haoran Dai;Tao Chen

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引用次数: 0

Abstract

This letter presents a teleoperation-based solution to address the challenges of achieving high precision, flexibility, and efficiency in complex microdevice assembly. We developed an automated microassembly system that integrates a decision tree for predicting operator intention with a leader-follower mapping model to suppress physiological tremor. The system’s performance was rigorously evaluated through demanding assembly experiments using Inertial Confinement Fusion (ICF) target core microdevices (half-hohlraums and target balls). Experimental results demonstrate effective operator intention recognition, with 80% accuracy for axial feed and 95% for pose adjustment. The system also achieved precise force and position control, limiting the maximum deformation of the gold hohlraum to 56

$\mu \rm {m}$

and the maximum force on the target ball to 17.4

$\mu \rm {N}$

. These findings validate the effectiveness and potential of this technical approach.

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基于遥操作的ICF目标核心微器件自动化微装配技术研究

这封信提出了一种基于远程操作的解决方案，以解决在复杂的微设备组装中实现高精度、灵活性和效率的挑战。我们开发了一个自动化的微装配系统，该系统集成了预测操作员意图的决策树和领导者-追随者映射模型，以抑制生理性震颤。通过使用惯性约束聚变（ICF）目标核心微器件（半全息镜和目标球）进行苛刻的装配实验，对系统的性能进行了严格的评估。实验结果表明，操作者意图识别是有效的，轴向进给精度为80%，姿态调整精度为95%。该系统还实现了精确的力和位置控制，将靶球的最大变形限制在56$\mu \rm {m}$，对靶球的最大作用力限制在17.4$\mu \rm {N}$。这些发现验证了这种技术方法的有效性和潜力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.