OTHER
A Mobile Hybrid Parallel Robot with Redundant Kinematic Structure
Huapeng Wu, Heikki Handroos, Pekka Pessi, Jussi Hopia
- Year
- 2006
- Citations
- 2
Abstract
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.
Keywords
KinematicsThermonuclear fusionRobot kinematicsMobile robotComputer scienceParallel manipulatorRobotMachiningRobot weldingWelding
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