主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2017
開催日: 2017/05/10 - 2017/05/13
This study aims to develop a robot for surveying the interior of a nuclear reactor and sampling fuel debris. To reach the sampling area, the robot must fit and pass through a hole with a 100mm diameter followed by a drop of several meters. From there, the robot must collect fine objects weighing several mg to a few 100 grams. To achieve these requirements, a flexible sampling arm that can be wound on a drum is being proposed. This paper describes the concept, design, prototyping and evaluation of the flexible arm and drum.