A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel
نویسندگان
چکیده
The present paper introduces a mobile parallel robot developed for International Thermonuclear Experimental Reactor (ITER). he task of the robot is to carry out welding and machining processes inside the ITER vacuum vessel. The kinematic design f the robot has been optimized for the ITER access. The kinematic analysis is given in the paper. A virtual prototype of the arallel robot is built. A dynamic behavior of the whole robot is studied by the multi-body system simulation (MBS). 2007 Elsevier B.V. All rights reserved.
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تاریخ انتشار 2007