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Hybrid Parallel Robot for the Assembling of ITER.

出版	INTECH Open Access Publisher, 2008
ISBN	39026134089783902613400
URL	http://books.google.com.hk/books?id=r87GoAEACAAJ&hl=&source=gbs_api

註釋A hybrid parallel robot with four additional serial motion axes is developed for carrying out the necessary machining and welding tasks in the assembling and repairing of the ITER Vacuum Vessel. The robot is capable of holding all necessary machining tools and welding end-effectors in all positions accurately and stably. The kinematics analysis of the robot is presented. The models are complex because of the redundant structure of the robot. The models are separately derived for the Hexa-WH and the carriage mechanism. An optimization algorithm finds the solution in the trajectory planning, ensuring the maximum stiffness during the robot motion. The experiments of the laser welding tests with the seam tracker have been carried out. Both the on-line and off-line teaching algorithms have been developed and the results show that the online teaching algorithm is better. The machining cutting tests with stainless steel have been tested. The entire design and testing process of the robot is a very complex task due to the high specialization of the manufacturing technology needed in the ITER reactor. The results demonstrate the applicability of the proposed solutions quite well.