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

-遠隔操作ロボットにより保守可能な分岐モジュールの開発および 保守作業を容易にするコンプライアンス機構の実装-

抄録

Unmanned robot operation is required for decommissioning of the Fukushima Dai-ichi Nuclear Power Plant. To realize efficient movement for robots in the high-radiation and hazardous environments, we are developing an “automated construction system of a modularized rail structure.” The intersection module developed in this study produces the structure branches and changes robot attitudes. To maintain the functions, remotely controlled robots replace malfunctioning parts of the module, which are anticipated to be caused by high radiation. To facilitate maintenance tasks, small positioning errors must be accommodated. This compliant function can be installed in the maintenance robot or in the module. To investigate effective combinations of the compliant mechanisms, experiments are conducted using prototypes. Experimental results confirm that only the compliant mechanism of the robot can reduce force sufficiently for the maintenance task.