论文信息 - Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel

Development and control towards a parallel water hydraulic weld/cut robot for machining processes in ITER vacuum vessel

Abstract This paper presents a special robot, able to carry out welding and machining processes from inside the ITER vacuum vessel (VV), consisting of a five degree-of-freedom parallel mechanism, mounted on a carriage driven by two electric motors on a rack. The kinematic design of the robot has been optimised for ITER access and a hydraulically actuated pre-prototype built. A hybrid controller is designed for the robot, including position, speed and pressure feedback loops to achieve high accuracy and high dynamic performances. Finally, the experimental tests are given and discussed.

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