1. Development of Robotic Machine Tool Towards Industrial Business
Huapeng Wu , Heikki Handroos
Lappeenranta University of Technology

2. Background
Since 2000, the EFDA in EU has launched several tasks to develop an intersector welding robot (IWR) for carrying out welding and machining inside the VV . The Laboratory of Intelligent Machine in Lappeenranta University of Technology has participated the related projects and developed Three generations of special hybrid machines as the solutions to the tasks.
The machining, welding and handing tests have been carried out in this laboratory by cooperating with CEA in France, VTT in Finland and Ansaldo in Italy.
In 2006, the EFDA evaluated the different possible methods based on the commercial serial robots, the special machines and the IWR robot. The evaluation report concluded that the hybrid parallel robot IWR is the best solution to the required tasks.

3. Prototype and Control System Integration
1) First generation of parallel robot machine
Prototype and Control System Integration
Hydraulic
station

4. First generation of parallel robot machine
-Technical achievements from first Version
Five degree of freedom full parallel robot Penta-WH
Stainless steel martial cutting
Stainless steel Laser welding , Seam tracking algorithm
Control software for Robot and CNC functions
Control strategy for hydraulic servo control
Calibration method with Differential evolution algorithm
Communication algorithm for different control system ( local NetWare )
Stainless cutting
softerware
Laser welding with seam tracker

5. 2) Second generation of parallel robot machine

6. Second generation of parallel robot machine
-Technical achievements from second Version
Ten degree of freedom Hybrid parallel robot IWR
Stainless steel martial milling
Control software for Robot and CNC functions
Control strategy for robot tracking motion
Calibration method with MCMC algorithm
Man-machine interface
Trajectory planning takes into account deflection
Machining vibration suppressing.

7. 3) Third generation of parallel robot machine
With milling tool
6-Degree of freedom Robot machine
3 linear motion and 3 rotation for
handing , welding and machining
No extra machine head and handing beam are need
Robot machine
With splice plate holder

8. 2. Application to industry from the developments
1. Parallel mechanism applications
Realtime Simulator ( mobile machine, robot remote handing….)
Mobile Machine
High speed Machine .
Mobile machine
MeVEA Ltd awarded the national Innofinland 2011-prize
Application in simulator Fast speed for laser cutting

9. 2. Laser tracking , Machine vision and CAD/CAM
Application to industry from the developments
2. Laser tracking , Machine vision and CAD/CAM

10. Application to industry from the developments
4. Calibration method for general robot by laser beam with machine vision
1 . Robot : it can be any robot used
In the company. The link parameters
Can be found from producer.
2. Laser beam : single laser beam with
Dot pattern.
3. High resolution camera
4. Aluminium cube,
80mmx80mmx80mm 3 2 2 3 1 4

11. Application to industry from the developments
5. Suppress Chatter for industrial robot machine
Hybrid control strategy for Chatter suppressing

12. Application to industry from the developments
6 .Control of robot by using standard industrial PC
Software developing for industrial applications.

13. 7. Reconfiguration of robot for different tasks
Application to industrious from the developments
7. Reconfiguration of robot for different tasks
Hardware reconfiguration
Software reconfiguration
Man- machine cooperation to complete tasks
Application in FMS system

14. 3. Future work – development for industrial application
Commercialized calibration methods
commercialized vibration suppress control methods
commercialized Hardware and software for robot machine
Commercialized mobile robot machine
Commercialized CAD\CAM\MV for robot applications
Spin- off company

15. 4. Conclusions Three robots have been developed for ITER application.
Several technologies developed have been or will be applied to industrial application other than ITER.
Future work will be aimed into commercial business