Structure design and error analysis for ICF diagnostic instrument manipulator

The diagnostic instrument manipulator(DIM) is designed for the instruments pointing and positioning in inertial confinement fusion (ICF) experiment. The DIM is a hybrid manipulator and provides precision 2-rotation and 1-translation capability for positioning of diagnostic packages. The inverse kinematics and close-form direct kinematics of the DIM are presented. Moreover, the error mapping function, which represents the end positioning error resulted from limbs length error and joint clearances, is formulated by using matrix method with the differential of kinematics function. Monte-Carlo method is involved in influencing factors analysis on the capability of DIM positioning. The clearances of sphere -pin-joint has a greater negative impact on DIM terminal error than other source errors b