主催: The Japan Society of Mechanical Engineers
会議名: 福島廃炉研究国際会議2024(FDR2024)
開催日: 2024/10/10 - 2024/10/13
High TRL and proven technologies successfully exploited in industries adjacent to nuclear, also in nuclear decommissioning in other parts of the world, can be advantageously applied at the Fukushima Daiichi Nuclear Power Plant. The challenges are closely analogous. The proposal is to adapt the REVO system to perform a range of specific decommissioning tasks in difficult-to-access operating environments.
The REVO Long Ops decommissioning system is specifically designed for operation in difficult-to-access places with the ability to deploy a range of tools and sensors. The system can be hydraulically actuated and hydraulically controlled for radiation-tolerance. REVO has an advantageous power-to-mass ratio due to its innovative geometries, using single actuators to create 3D translations: the snake-arm robot is capable of lifting and manipulating objects with a relatively large mass for the size of the robot and of applying significant force to perform decommissioning tasks. The unique geometries enable the robot arm to operate in all parts of the workspace without the need to avoid no-go zones that conventionally are created by singularities.
Equipped with specialized sensors for condition assessment, radiation levels can be mapped over a 3D model of the environment. A range of tools can be mounted on the robot arm including a laser-cutter for size-reduction and the Ross Innovation 3D Adaptive gripper for reliable object manipulation. The system is modular and can be reconfigured for reach and task-capability and is scalable to pass through access ports in the range 80mm to 500mm.
Subsets of the challenge are addressed and experimental results are obtained to indicate the achievability of deployment of the REVO system at Fukushima.
