有人作業が困難な災害現場における作業ロボットのための移動・作業用軌道構造体の自動施工システム

―軌道構造体上を移動するロボットの軸回転動作を実現するモジュールの開発―

抄録

Unmanned robot operation is required for decommissioning of Fukushima Dai-ichi Nuclear Power Plant. To realize efficient movement for robots in the high radiation and hazardous environments, we propose an “Automated construction system of a modularized rail structure.” In this study, we have developed an axial-rotation-module that transfers a robot moving on the rail structure to another face of its structure. To realize a long-term operation, electronic components of the module must be replaced by a remotely controlled robot. In our design, the backdrivability of a rotating part of the module makes the replacing task simple and easy. An experiment has been conducted to evaluate the backdrivability of the rotating part. Experimental result indicates that a commercial robot can back-drive the rotating part with no special effort.