A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel

被引：14

作者：

Pessi, Pekka ^{[1
]}

Wu, Huapeng

Handroos, Heikki

Jones, Lawrence

机构：

[1] Lappeenranta Univ Technol, Lappeenranta, Finland

[2] EFDA, Close Support Unit, D-85748 Garching, Germany

来源：

FUSION ENGINEERING AND DESIGN | 2007年 / 82卷 / 15-24期

基金：

欧盟地平线“2020”;

关键词：

ITER vacuum vessel; parallel robot; assembling; machining; stiffness analysis;

D O I：

10.1016/j.fusengdes.2007.06.012

中图分类号：

TL [原子能技术]; O571 [原子核物理学];

学科分类号：

0827 ; 082701 ;

摘要：

The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). The task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design of the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the parallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS). (C) 2007 Elsevier B.V. All rights reserved.

引用

页码：2047 / 2054

页数：8

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