Title :
Assembling and Repairing for ITER Vacuum Vessel with Mobile Parallel Robot
Author :
Wu, Huapeng ; Pessi, Pekka ; Handroos, Heikki
Author_Institution :
Lappeenranta Univ. of Technol., Lappeenranta
Abstract :
A novel mobile parallel robot is developed to carry out welding and machining processes in assembly and repair of vacuum vessel (VV) of reactor (ITER). The kinematics of the robot has been optimized for the ITER´S access. The kinematics analysis of the robot construction is given in the paper and the welding and machining experiments are demonstrated by a limited prototype.
Keywords :
Tokamak devices; fusion reactor materials; fusion reactor theory; machining; stainless steel; welding; FeCrCJk; ITER reactor; kinematics analysis; machining processes; mobile parallel robot; stainless steel; vacuum vessel; welding processes; Kinematics; Machining; Orbital robotics; Parallel robots; Rails; Robotic assembly; Robotics and automation; Steel; Vacuum technology; Welding;
Conference_Titel :
Fusion Engineering, 2007. SOFE 2007. 2007 IEEE 22nd Symposium on
Conference_Location :
Albuquerque, NM
Print_ISBN :
978-1-4244-1193-1
Electronic_ISBN :
978-1-4244-1194-8
DOI :
10.1109/FUSION.2007.4337912
