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2023
開催日: 2023/06/28 - 2023/07/01
This paper proposes a new type of long-reach arm, named “ Truss Arm ”, with high payload capacity and high aspect ratio. ”Truss Arm” has a truss structure with a telescopic rod made extendable with pneumatic pressure inside the pipe and a coupled tendon-driven mechanism. “ Truss Arm ”has a characteristic that can cancel a bending moment at the root of the arm as air pressure and wire tensions are properly controlled. A design method of the Truss arm is proposed, and it was validated an experiment with a prototype. This paper finally discussed the possibility of the 20 m-long“Truss Arm” to retrieve fuel debris from the the Fukushima Daiichi Nuclear Power Plant (1F), and the maximum pay load was calcurated.