| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 273604 | Fusion Engineering and Design | 2007 | 8 Pages |
Abstract
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).
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Authors
Pekka Pessi, Huapeng Wu, Heikki Handroos, Lawrence Jones,