Abstract
After Fukushima Daiichi nuclear disaster, exploration in highly radioactive water is required. One of the most urgent tasks is to explore underwater in torus room which is flooded with radioactive water. In this paper, we propose a long waterproofed neutral buoyancy robot arm with active joints. In torus room, there is a need to detect leakage and repair with water glass. We can equip continuous-supply device of fixing material to the arm, which would be difficult to do so with ROV. We can wind this arm around the drum to make it compact so that it can be easily carried out. We developed a 1 unit model and conducted an underwater experiment. This arm is neutral buoyancy and requires less torque to keep its attitude underwater.
