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

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.