{"abstracts":[{"sha1":"2d6743ae9f827026811c8ae8bfa4ff7a7c359aea","content":"\nPurpose\nThis 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.\n\n\nDesign/methodology/approach\nFirst, 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.\n\n\nFindings\nCurrently, 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.\n\n\nOriginality/value\nThis mobile parallel industrial robot is particularly used in fusion reactor. Furthermore, the structure of the mobile parallel robot can be optimized for different applications.\n","mimetype":"application/xml+jats"}],"refs":[{"index":0,"extra":{"doi":"10.1016/s0005-1098(02)00147-4","issue":"12","volume":"38"},"key":"key2021060812101659700_ref001","year":2002,"container_name":"Automatica","title":"Non-singular terminal sliding mode control of rigid manipulators","locator":"2159"},{"index":1,"extra":{"doi":"10.1016/j.fusengdes.2019.03.110","volume":"146"},"key":"key2021060812101659700_ref002","year":2019,"container_name":"Fusion Engineering and Design","title":"Design and analysis of robot for the maintenance of divertor in DEMO fusion reactor","locator":"2092"},{"index":2,"extra":{"doi":"10.1016/j.fusengdes.2020.111966","volume":"161"},"key":"key2021060812101659700_ref003","year":2020,"container_name":"Fusion Engineering and Design","title":"Design and implementation of a mobile parallel robot for assembling and machining the fusion reactor vacuum vessel","locator":"111966"},{"index":3,"extra":{"doi":"10.1016/j.fusengdes.2013.04.023","issue":"9/10","volume":"88"},"key":"key2021060812101659700_ref004","year":2013,"container_name":"Fusion Engineering and Design","title":"Software design of the hybrid robot machine for ITER vacuum vessel assembly and maintenance","locator":"1872"},{"index":4,"extra":{"doi":"10.1007/978-3-319-72911-4_6"},"key":"key2021060812101659700_ref005","year":2006,"container_name":"Solid Mechanics and Its Applications","title":"Parallel robots"},{"index":5,"extra":{"doi":"10.1016/j.fusengdes.2007.06.012","issue":"15/24","volume":"82"},"key":"key2021060812101659700_ref006","year":2007,"container_name":"Fusion Engineering and Design","title":"A mobile robot with parallel kinematics to meet the requirements for assembling and machining the ITER vacuum vessel","locator":"2047"},{"index":6,"extra":{"doi":"10.1109/tps.2014.2299277","volume":"42"},"key":"key2021060812101659700_ref007","year":2014,"container_name":"IEEE Transactions on Plasma Science","title":"Concept design of CFETR tokamak machine","locator":"503"},{"index":7,"extra":{"doi":"10.1243/pime_proc_1965_180_029_02","volume":"180"},"key":"key2021060812101659700_ref008","year":1965,"container_name":"Proceedings of the Institution of Mechanical Engineers","title":"A platform with six degrees of freedom","locator":"371"},{"index":8,"extra":{"doi":"10.1002/rob.20039","issue":"11","volume":"21"},"key":"key2021060812101659700_ref009","year":2004,"container_name":"Journal of Robotic Systems","title":"Modeling and control for a Gough-Stewart platform CNC machine","locator":"609"},{"index":9,"extra":{"doi":"10.1016/s0094-114x(01)00009-x","volume":"36"},"key":"key2021060812101659700_ref010","year":2001,"container_name":"Mechanism and Machine Theory","title":"A study on workspace, boundary workspace analysis and workpiece positioning for parallel machine tools","locator":"605"},{"index":10,"extra":{"doi":"10.1108/01439910810854656","volume":"35"},"key":"key2021060812101659700_ref011","year":2008,"container_name":"Industrial Robot: An International Journal","title":"Mobile parallel robot for assembly and repair of ITER vacuum vessel","locator":"160"}],"contribs":[{"index":0,"raw_name":"Changyang Li","given_name":"Changyang","surname":"Li","role":"author","extra":{"seq":"first"}},{"index":1,"raw_name":"Huapeng Wu","given_name":"Huapeng","surname":"Wu","role":"author"},{"index":2,"raw_name":"Harri Eskelinen","given_name":"Harri","surname":"Eskelinen","role":"author"},{"index":3,"raw_name":"Haibiao Ji","given_name":"Haibiao","surname":"Ji","role":"author"}],"language":"en","publisher":"Emerald","issue":"ahead-of-print","volume":"ahead-of-print","ext_ids":{"doi":"10.1108/ir-10-2020-0228"},"release_year":2021,"release_date":"2021-06-07","release_stage":"published","release_type":"article-journal","container_id":"sas34thkbnh5hjuboakcwrqquq","webcaptures":[],"filesets":[],"files":[{"release_ids":["xliycauo2rgsjl64bkgneluhny"],"mimetype":"application/pdf","urls":[{"url":"https://www.emerald.com/insight/content/doi/10.1108/IR-10-2020-0228/full/pdf?title=mobile-parallel-robot-machine-for-heavy-duty-double-walled-vacuum-vessel-assembly","rel":"publisher"},{"url":"https://web.archive.org/web/20210609094108/https://www.emerald.com/insight/content/doi/10.1108/IR-10-2020-0228/full/pdf?title=mobile-parallel-robot-machine-for-heavy-duty-double-walled-vacuum-vessel-assembly","rel":"webarchive"}],"sha256":"f3fe38c5ad6fa8cbf56ab4211d5cee5048bc50bf5acdcec93dc626b245e61880","sha1":"cfa5ec2f8cfb52ad136e873b28f2fa9cd681a9ff","md5":"258a24aeb6e330c21412c3a0cf15e9ec","size":2743756,"revision":"8bf73da6-01ba-4f33-89fc-1e997dec3af7","ident":"eeizjod3fnc6nmy5cjhbie5iiq","state":"active"}],"container":{"wikidata_qid":"Q15760106","issnp":"0143-991X","issne":"1758-5791","issnl":"0143-991X","publisher":"Emerald 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