Title :
A Mobile Hybrid Parallel Robot with Redundant Kinematic Structure
Author :
Wu, Huapeng ; Handroos, Heikki ; Pessi, Pekka ; Hopia, Jussi
Author_Institution :
Inst. of Mechatron. & virtual Eng., Lappeenranta Univ. of Technol., Lappeenranta
Abstract :
This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematic design of the robot has been optimized for ITER access. Kinematic analysis is given in the paper, and control algorithm is designed for water hydraulic.
Keywords :
machining; mobile robots; redundant manipulators; robot kinematics; robotic welding; international thermonuclear experimental reactor; mobile hybrid parallel robot; redundant kinematic structure; vacuum vessel; water hydraulic design; Kinematics; Machining; Manipulator dynamics; Mobile robots; Parallel robots; Rails; Robotic assembly; Steel; Welding; Wheels; ITER; parallel robot; redundant kinematics;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340092
