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.

中文翻译：

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用于重型双壁真空容器组装的移动并联机器人机器

目的

本文旨在介绍用于聚变反应堆钨惰性气体 (TIG) 焊接和加工过程的七自由度移动并联机器人的详细机械设计。介绍了机器人的详细机械设计，并研究了运动学和动力学行为。

设计/方法/方法

首先在计算机辅助设计（CAD）软件中建立移动并联机器人模型，然后完成机器人的仿真和优化，以满足设计要求。然后机器人被制造和组装。最后，进行了机械加工和钨极惰性气体 (TIG) 焊接测试以进行验证。

发现

目前，该机器人系统已在实验室成功实施。优异的性能表明机器人的机械和软件设计适合给定的任务。焊接和机加工的质量和精度均达到要求。

原创性/价值

这种移动并联工业机器人特别用于聚变反应堆。此外，移动并联机器人的结构可以针对不同的应用进行优化。