概要
In the decommissioning of the Fukushima Daiichi Nuclear Power Plant, robots that support radiation measurement and fuel-debris retrieval require designs with high maintainability and extensibility. This study proposes a platform-based approach in which the reactor interior is pre-structured and interchangeable robot and sensor modules are deployed and operated on that platform. Focusing on arm modules that are directly involved in observation and retrieval tasks, we defined the required specifications and designed and fabricated a prototype telescopic arm mechanism. Moreover, to compare it with a suspension-based mechanism, we collected time-series data using three-dimensional position measurements and conducted a quantitative evaluation of both mechanisms’ performance.
