A1 Journal article (refereed), original research

Design and implementation of a mobile parallel robot for assembling and machining the fusion reactor vacuum vessel

Publication Details
Authors: Li Changyang, Wu Huapeng, Eskelinen Harri, Handroos Heikki, Li Ming
Publisher: Elsevier
Publication year: 2020
Language: English
Related Journal or Series Information: Fusion Engineering and Design
Volume number: 161
ISSN: 0920-3796
eISSN: 1873-7196
JUFO-Level of this publication: 1
Open Access: Not an Open Access publication


The present paper introduces a mobile robot machine for the fusion
reactor and presents its implementation. The task of the robot is to
carry out assembly work inside the fusion reactor vacuum vessel, the
assembly work consists of scanning, machining, splice plate
transportation, welding, nondestructive testing (NDT), defect welding
point cutting and re welding. To better meet the requirements of the
fusion reactor configuration, the structure and the kinematics of the
mobile parallel robot have been optimized for the fusion reactor access.
In this paper, the overall design of the mobile parallel robot is first
presented, followed by calculation and simulation of the static,
kinematic and workspace model of the mobile parallel robot. Finally, the
implementation process of the mobile parallel robot is introduced.
Compared with the similar mobile parallel robot developed by the same
research group and demonstrated in ITER …

Last updated on 2021-16-03 at 12:47

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