原子炉圧力容器の内部調査を行う屈曲関節を有するワイヤ駆動垂直伸展テレスコピックアームの開発

抄録

This research proposes a long-reach robot arm with high aspect ratio, high retractility and multiple degrees of freedom for investigations of an inside of a reactor pressure vessel in Fukushima Daiichi Nuclear Power Plant. In this paper, we propose a new mechanism for the long-reach robot arm that extends vertically while bending in the middle by driving wires outside of a telescopic rod that is extended pneumatically, which is extended the Truss Arm mechanism proposed by our research group. In addition, the feasibility of the proposed mechanism is verified through experiments using a scale model prototype with the same configuration as the full-scale model.