A1 Journal article (refereed), original research (Journal article, original research)

Mobile parallel robot machine for heavy-duty double-walled vacuum vessel assembly


Open Access hybrid publication


Publication Details

Authors: Li Changyang, Wu Huapeng, Eskelinen Harri, Ji Haibiao

Publisher: Emerald: 12 month embargo

Publication year: 2021

Language: English

Related journal or series: Industrial Robot: An International Journal

Journal name in source: INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION

Volume number: 48

Issue number: 4

Start page: 523

End page: 531

Number of pages: 9

ISSN: 0143-991X

eISSN: 1758-5791

JUFO level of this publication: 1

Digital Object Identifier (DOI): http://dx.doi.org/10.1108/IR-10-2020-0228

View additional information: View in Web of Science

Open Access: Open Access hybrid publication


Abstract

Purpose

This paper aims to present a detailed mechanical design of a seven-degrees-of-freedom mobile parallel robot for the tungsten inert gas (TIG) welding and machining processes in fusion reactor. Detailed mechanical design of the robot is presented and both the kinematic and dynamic behaviors are studied.

Design/methodology/approach

First, the model of the mobile parallel robot was created in computer-aided design (CAD) software, then the simulation and optimization of the robot were completed to meet the design requirements. Then the robot was manufactured and assembled. Finally, the machining and tungsten inert gas (TIG) welding tests were performed for validation.

Findings

Currently, the implementation of the robot system has been successfully carried out in the laboratory. The excellent performance has indicated that the robot’s mechanical and software designs are suitable for the given tasks. The quality and accuracy of welding and machining has reached the requirements.

Originality/value

This mobile parallel industrial robot is particularly used in fusion reactor. Furthermore, the structure of the mobile parallel robot can be optimized for different applications.


Last updated on 2021-26-11 at 13:22