DocumentCode
2195829
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
fYear
2006
fDate
17-20 Dec. 2006
Firstpage
1157
Lastpage
1162
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ROBIO.2006.340092
Filename
4142029
Link To Document