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Title
Japanese:LIBRA-IIの提案：弾性テレスコピックアームを備えた可変質量カウンターウェイト付きロボット 
English:Proposal for LIBRA-II: A Quasi-statically Balanced Robot with an Elastic Telescopic Arm 
Author
Japanese: クリスチャン ブライス, 藤塚 祐二, 高橋 秀治, 木倉 宏成, 遠藤 玄.  
English: Christian Brice, Yuji Fujitsuka, Hideharu Takahashi, Hiroshige Kikura, Gen Endo.  
Language English 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会2025講演論文集 
English:Robotics and Mechatronics Conference 2025 Proceedings 
Volume, Number, Page        
Published date June 4, 2025 
Publisher
Japanese:一般社団法人 日本機械学会 
English:Japan Society of Mechanical Engineers 
Conference name
Japanese:日本機械学会ロボティクス・メカトロニクス講演会2025 
English:ROBOMECH2025 in Yamagata 
Conference site
Japanese:山形県山形市 
English:Yamagata, Yamagata 
Abstract Nuclear power station (NPS) decommissioning is a long and arduous process, with the possibility of significant health risks to the humans involved. Fukushima Daiichi NPS ’s Unit 3 MSIV (main steam isolation valve) room poses additional challenges, as it has high radiation levels due to the past presence of irradiated water, indicating an as of-yet unconfirmed leak in the PCV (primary containment vessel); water had been injected into the PCV to cool it after the 2011 Tohoku earthquake. By combining two robotic manipulator concepts developed at our lab – the elastic telescopic arm (ETA) and LIBRA-I’s quasi-static water-based counterweight – we propose LIBRA-II for surveying the Fukushima Daiichi NPS Unit 3 MSIV room. A prototype is built using an improved ETA and simplified counterweight system. We experimentally validate the compact 3-DoF robot’s ability to extend to over 6 meters in length while generating over 340 Nm of counter-torque.

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