Development of Robot System for Sensor Adjustment in ICF Research

A macro-micro robot system is developed to satisfy the requirement of the high-precision pose adjustment and large-travel of the sensor in ICF research. In micro-motion design, six degree-of-freedom parallel robot with hooke joint is taken to meet the large load and acquire reasonable accuracy. And close-loop control method and proper planning for the velocity of motor are necessary to guarantee the orientating precision and repetitive accuracy of the system. The transmission type with ballscrew is a good choice to meet large-travel in macro-motion design. Network control of the robot system is realized through the network communication between the server and the client. The results of experiment show that the robot system developed can well realized the accurate pose adjustment of the sensor and satisfied design requirement of the sensor adjustment