Research on Automated Microassembly Technology for ICF Target Core Microdevices Based on Teleoperation
Hongwei Deng, Kejian Ni, Xiepeng Yang, Haoran Dai, Tao Chen
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 56μm and the maximum force on the target ball to 17.4μN. These findings validate the effectiveness and potential of this technical approach.
BibTeX
@inproceedings{ral2025_researchonautoma,
title = {Research on Automated Microassembly Technology for ICF Target Core Microdevices Based on Teleoperation},
author = {Hongwei Deng and Kejian Ni and Xiepeng Yang and Haoran Dai and Tao Chen},
booktitle = {RA-L 2025},
year = {2025}
}