Development of an Intersection Module for a Modularized Rail Structure – Implementation of Compliant Mechanisms for a Replacing Task of Movable Parts –

DOI Web Site Web Site 被引用文献5件 参考文献20件
  • Fukui Rui
    Department of Human and Engineered Environmental Studies,Graduate School of Frontier Sciences, The University of Tokyo
  • Kanayama Gen
    Department of Human and Engineered Environmental Studies,Graduate School of Frontier Sciences, The University of Tokyo
  • Kato Yuta
    Central Japan Railway Company
  • Takahashi Ryo
    Sony Corporation
  • Warisawa Shin’ichi
    Department of Human and Engineered Environmental Studies,Graduate School of Frontier Sciences, The University of Tokyo

書誌事項

公開日
2018-06-20
DOI
  • 10.20965/jrm.2018.p0467
公開者
富士技術出版株式会社

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説明

<p>For decommissioning of the Fukushima Daiichi Nuclear Power Station, we are developing an “automated construction system for a modularized rail structure.” The intersection module developed in this study produces structure branches and changes robot attitudes. To maintain module functions, assuming the anticipated malfunctions caused by high-radiation environments, remotely controlled robots are used to replace malfunctioning parts of the module. To facilitate maintenance tasks, small positioning errors must be accommodated. This compliant function can be realized by the maintenance robot or the module. To elucidate effective combinations of the compliant mechanisms, experiments are conducted using prototypes. Experimental results confirm that the compliant mechanism of the robot contributes more efficiently than that of the module. This study is expected to be applied to practical distributed robotic systems because it is necessary to replace malfunction parts as simply as possible if they are replaced by remotely controlled robots.</p>

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