Title of article
A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel
Author/Authors
Pessi، نويسنده , , Pekka and Wu، نويسنده , , Huapeng and Handroos، نويسنده , , Heikki and Jones، نويسنده , , Lawrence، نويسنده ,
Issue Information
روزنامه با شماره پیاپی سال 2007
Pages
8
From page
2047
To page
2054
Abstract
The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS).
Keywords
Machining , ITER vacuum vessel , parallel robot , Assembling , Stiffness Analysis
Journal title
Fusion Engineering and Design
Serial Year
2007
Journal title
Fusion Engineering and Design
Record number
2354205
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