Abstract
When a serious accident occurs at a chemical plant, factory or power plant, early decontamination of a pollutant is important for lifesaving, damage suppression, early restoration and so on. A lot of robot systems have been developed or revalued for decontamination until the accident of the Fukushima 1^<st> nuclear power plant. These systems are valid for decontaminations and some of them have been operated in the Fukushima 1^<st> nuclear power plant actuary. They, however, are specialized for plane part such as wall, floor, roof and so on. Decontamination of infrastructures has been leaved until later because of difficulties due to complex shape. In this research, focusing on decontamination of infrastructures, especially on pipes in the factory, a decontamination robot system using water-jet as a washing mechanism is proposed. In this paper, a concept and total structure of the system is proposed. In addition to this, to improve a previous robot, a mobile mechanism using Mechanum wheel is proposed.
