Assembling and Repairing for ITER Vacuum Vessel with Mobile Parallel Robot

摘要

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.