狭隘部進入点検ロボットの開発

抄録

Nuclear power plants store low level radioactive waste in drums. Since this drum can is stored for a long time, there is a risk that the contents will leak due to rust and crack. However, since the gap between the stored drum and drum is too narrow, it is impossible for a person to check the scratches on the surface of the drum. So, I made a robot that moves through the narrow gap of the drum. This robot sticks to the side of the drum with a magnet and can move. In addition, this robot has multiple joints and arms and can move across the gap of the drum can like a snake using a crawler. I made this robot and performed experiments.