書誌事項
- タイトル別名
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- Proposition of“ Truss Arm ”: A Long-Reach Arm using a Telescopic Rod and Truss Structured Coupled-Driven Wires
抄録
<p>This paper proposes a new type of long-reach arm, named “ Truss Arm ”, with high payload capacity and high aspect ratio. ”Truss Arm” has a truss structure with a telescopic rod made extendable with pneumatic pressure inside the pipe and a coupled tendon-driven mechanism. “ Truss Arm ”has a characteristic that can cancel a bending moment at the root of the arm as air pressure and wire tensions are properly controlled. A design method of the Truss arm is proposed, and it was validated an experiment with a prototype. This paper finally discussed the possibility of the 20 m-long“Truss Arm” to retrieve fuel debris from the the Fukushima Daiichi Nuclear Power Plant (1F), and the maximum pay load was calcurated.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2023 (0), 2A2-B10-, 2023
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390298919731423232
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
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- 抄録ライセンスフラグ
- 使用不可