Abstract
It is quite dangerous for human workers to work inside Fukushima Daiichi Nuclear Power Plant where many radioactive obstacles and debris exist. There, various robots are deployed to address many tasks, but it is not easy for even robots to realize smooth locomotion and efficient operation because radioactive debris and architectural structures such as steps and doors interrupt them. In addition, utilizable sensors and actuators are restricted in such an environment. To overcome those difficulties, we have proposed an automated construction system of robot locomotion and operation whose rail structure is modularized. The structure is anchored to walls or floors and enables working robots to reach a specific destination. This paper describes development of rail structure supporting mechanism. The feature of the developed mechanism is that it uses resin foam for three different functions; actuator, adhesive material and structural material. Basic experiments are conducted using the developed prototype. Experimental results verify the feasibility of pillar expansion, anchoring and fixation motions, and they also reveal the impact of components' properties on the supporting performance.
