空圧駆動型柔軟索状ロボットによる配管内とオープンスペースの走行

抄録

This study presents a flexible pneumatic robot capable of moving both in pipes and across open spaces. For decommissioning operation of Fukushima Daiichi Nuclear Power Plant, a robot that can access to pressure containment vessels (PCV) and reactor pressure vessels (RPV) via pipes is required. The pneumatic robot mechanism proposed in this study realizes integrating in-pipe and open-space propulsion mechanism by using Expansion-type Pneumatic Hollow-shaft actuators and a pneumatic rotary steering mechanism. In this paper, locomotion ability is measured in terms of propulsion force and steering force. The results indicate that the mechanism can propel well even on grating or concrete floors.