A mobile hybrid parallel robot with redundant kinematic structure

被引：0
|
作者：
Wu, Huapeng [1 ]
Handroos, Heikki [1 ]
Pessi, Pekka [1 ]
Hopia, Jussi [1 ]
机构：
[1] Lappeenranta Univ Technol, Inst Mechatron & Virtual Engn, Lappeenranta, Finland
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年
关键词：
parallel robot; redundant kinematics; ITER;
D O I：
10.1109/ROBIO.2006.340092
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a novel mobile parallel robot, which is able to carry welding and machining processes from inside the international thermonuclear experimental reactor (ITER) vacuum vessel (VV). The kinematic design of the robot has been optimized for ITER access. Kinematic analysis is given in the paper, and control algorithm is designed for water hydraulic.
引用
收藏
页码：1157 / +
页数：2
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