Robotics and Mechatronics Conference 2025 Proceedings
巻, 号, ページ
出版年月
2025年6月4日
出版者
和文:
一般社団法人 日本機械学会
英文:
Japan Society of Mechanical Engineers
会議名称
和文:
日本機械学会ロボティクス・メカトロニクス講演会2025
英文:
ROBOMECH2025 in Yamagata
開催地
和文:
山形県山形市
英文:
Yamagata, Yamagata
アブストラクト
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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