Design and implementation of a mobile parallel robot for assembling and machining the fusion reactor vacuum vessel

Abstract

Abstract The present paper introduces a mobile robot machine for the fusion reactor and presents its implementation. The task of the robot is to carry out assembly work inside the fusion reactor vacuum vessel, the assembly work consists of scanning, machining, splice plate transportation, welding, nondestructive testing (NDT), defect welding point cutting and re welding. To better meet the requirements of the fusion reactor configuration, the structure and the kinematics of the mobile parallel robot have been optimized for the fusion reactor access. In this paper, the overall design of the mobile parallel robot is first presented, followed by calculation and simulation of the static, kinematic and workspace model of the mobile parallel robot. Finally, the implementation process of the mobile parallel robot is introduced. Compared with the similar mobile parallel robot developed by the same research group and demonstrated in ITER, the new designed robot machine is more reliable and more easily realizable, and, moreover, it is suitable for assembling work in different environments.