DocumentCode
3460945
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
fYear
2007
fDate
17-21 June 2007
Firstpage
1
Lastpage
4
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/FUSION.2007.4337912
Filename
4337912
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