Mobile parallel robot machine for heavy-duty double-walled vacuum vessel assembly

摘要

Purpose This paper aims to present a detailed mechanical design of a seven-degrees-of-freedom mobile parallel robot for the tungsten inert gas (TIG) welding and machining processes in fusion reactor. Detailed mechanical design of the robot is presented and both the kinematic and dynamic behaviors are studied. Design/methodology/approach First, the model of the mobile parallel robot was created in computer-aided design (CAD) software, then the simulation and optimization of the robot were completed to meet the design requirements. Then the robot was manufactured and assembled. Finally, the machining and tungsten inert gas (TIG) welding tests were performed for validation. Findings Currently, the implementation of the robot system has been successfully carried out in the laboratory. The excellent performance has indicated that the robot’s mechanical and software designs are suitable for the given tasks. The quality and accuracy of welding and machining has reached the requirements. Originality/value This mobile parallel industrial robot is particularly used in fusion reactor. Furthermore, the structure of the mobile parallel robot can be optimized for different applications.