A scheme and kinematics analysis of an assembly vehicle for terminal optical component of a laser fusion device

Laser fusion devices are ascending. However, the installation of the terminal optical component (TOC) is the key link and difficult technical problem. In this paper, in order to solve the problem, a new scheme of a 6-DOF terminal optical component assembly vehicle is proposed. In this paper, the structural composition and working principle are given, and its motion space and working characteristics are analyzed. Based on kinematic model of the vehicle, the equation is derived with homogeneous coordinates. And the TOC pose expression is given. And then the envelope of the trajectory of the TOC carried by the assembly vehicle is drawn. Taking the TOC installation of a laser fusion device as an example, the key process of TOC installation is simulated, which proves the accessibility and high efficiency of the assembly vehicle. Compared with traditional installation equipment, this device has significant advantages in terms of accessibility, avoidance of environmental obstacles in the assembly ground, and operation accuracy. The scheme and kinematics equations of this assembly vehicle can provide a theoretical basis for the development of similar equipment.