Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel

被引：20

作者：

Wu, HP ^{[1
]}

Handroos, H

Pessi, P

Kilkki, J

Jones, L

机构：

[1] Lappeenranta Univ Technol, IMVE, Lappeenranta 53850, Finland

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

来源：

FUSION ENGINEERING AND DESIGN | 2005年 / 75-79卷

关键词：

remote handing; parallel robot; ITER vacuum vessel; machining/welding; water hydraulic;

D O I：

10.1016/j.fusengdes.2005.06.304

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：

This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel (W), consisting of a five degree-of-freedom parallel mechanism, mounted on a carriage driven by two electric motors on a rack. The kinematic design of the robot has been optimised for ITER access and a hydraulically actuated pre-prototype built. A hybrid controller is designed for the robot, including position, speed and pressure feedback loops to achieve high accuracy and high dynamic performances. Finally, the experimental tests are given and discussed. (c) 2005 Elsevier B.V. All rights reserved.

引用

页码：625 / 631

页数：7

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FUSION ENGINEERING AND DESIGN, 2003, 69 (1-4) :327-331

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