Name
Abstract | ||
|---|---|---|
The decommissioning of the Fukushima Daiichi Nuclear Power Plants is a national urgent problem in Japan. The distribution and characteristics of the fuel debris inside the nuclear reactor must be investigated to safely retrieve them. This letter describes a 10-m-long articulated manipulator for investigation inside the primary container vessel. We employed a coupled tendon-driven mechanism and a gravity compensation mechanism using synthetic fiber ropes to design a lightweight and slender articulated manipulator. After discussing the basic principle and control algorithm, we focus on the detailed mechanical design of a prototype model. We confirmed its feasibility through basic motion experiments. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/LRA.2019.2894855 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | Field | DocType |
Tendon/wire mechanism, mechanism design, redundant robots, synthetic fiber rope | Nuclear decommissioning,Torque,Nuclear reactor,Draco (constellation),Mechanical engineering,Control engineering,Engineering,Pulley,Nuclear power,Actuator,Payload | Journal |
Volume | Issue | ISSN |
4 | 2 | 2377-3766 |
Citations | PageRank | References |
1 | 0.39 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gen Endo | 1 | 489 | 53.07 |
| Atsushi Horigome | 2 | 2 | 1.50 |
| Atsushi Takata | 3 | 2 | 1.11 |