A1 Journal article (refereed), original research

Accuracy Analysis of Hybrid Parallel Robot for the assembling of ITER


Publication Details
Authors: Wang Yongbo, Pessi Pekka, Wu Huapeng, Handroos Heikki
Publication year: 2009
Language: English
Related Journal or Series Information: Fusion Engineering and Design
Volume number: 84
Issue number: 2
Start page: 1964
End page: 1968
ISSN: 0920-3796
JUFO-Level of this publication:
Open Access: Not an Open Access publication

Abstract
This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from insidThis paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.e the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematics design of the robot has been optimized for ITER access. To improve the accuracy of the parallel robot, the errors caused by the stiffness and manufacture process have to be compensated or limited to a minimum value. In this paper kinematics errors and stiffness modeling are given. The simulation results are presented.

Last updated on 2017-22-03 at 15:33