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Title
Japanese:直動型テレスコピックブームによる拡張型Super Dragon多関節ロボットアームの開発 
English:Development of Extended Super Dragon Articulated Robot Arm with a Linear Telescopic Boom 
Author
Japanese: 永井 敏也, 鄭 冰, 髙田 敦, 木倉 宏成, 高橋 秀治, 遠藤 玄.  
English: Toshiya Nagai, Hyo Tei, Atsushi Takata, HIROSHIGE KIKURA, Hideharu Takahashi, Gen Endo.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会2022講演論文集 
English: 
Volume, Number, Page        
Published date June 1, 2022 
Publisher
Japanese:一般社団法人 日本機械学会 
English:The 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2022 
English: 
Conference site
Japanese:札幌 
English: 
File
Official URL https://robomech.org/2022/
 
Abstract It is necessary to explore the bottom of the RPV in order to accelerate the decommissioning of the Fukushima Daiichi Nuclear Power Plant. A coupled tendon-driven articulated robot arm, Super Dragon, has been developed to deploy the investigation equipment into the containment vessel. In this paper, we developed an extended Super Dragon with a length of 15.4 m by modifying and integrating the telescopic boom so that it can be mounted on the Super Dragon. Experiments were conducted to raise the telescopic boom vertically and to lift and hold the deployed telescopic boom horizontally. We confirmed the basic movements required to explore the bottom of the RPV.

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