Title :
A Hybrid Parallel Robot
Author :
Wu, Huapeng ; Pessi, Pekka ; Handroos, Heikki
Author_Institution :
Assoc. Euratom-Tekes, Lappeenranta Univ. of Technol., Lappeenranta
Abstract :
This paper presents a novel mobile parallel robot carries 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 :
cutting; industrial robots; laser beam welding; maintenance engineering; robot kinematics; robotic assembly; cutting; hybrid parallel robot; laser welding; machining; robot kinematics; vacuum vessel reactor; Kinematics; Laser beam cutting; Machining; Mobile robots; Parallel robots; Rails; Robotic assembly; Robotics and automation; Steel; Welding; ITER; cutting; laser welding; parallel robot;
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
DOI :
10.1109/RAMECH.2008.4681455
