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This paper presents a novel mobile parallel robot carries out welding and machining processes in assembly and repair of vacuum vessel (VV) of reactor (ITER). The kinematics of the robot has been optimized for the ITER's access. The kinematics analysis of the robot construction is given in the paper and the welding and machining experiments are demonstrated by a limited prototype.
A novel mobile parallel robot is developed to carry out welding and machining processes in assembly and repair of vacuum vessel (VV) of reactor (ITER). The kinematics of the robot has been optimized for the ITER'S access. The kinematics analysis of the robot construction is given in the paper and the welding and machining experiments are demonstrated by a limited prototype.
This 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 kinematic design of the robot has been optimized for ITER access. Kinematic analysis is given in the paper, and control algorithm is designed for water hydraulic.
The characteristic advantages of hydraulics (high power density, simple construction and reliability) together with the characteristics of water as the pressure medium (fire and environmentally safe, chemically neutral, not activated nor affected by radiation) are highlighted in critical applications such as remote handling operations in International Thermonuclear Experimental Reactor (ITER). However,...
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