Proposition of“ Truss Arm ”: A Long-Reach Arm using a Telescopic Rod and Truss Structured Coupled-Driven Wires

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  • テレスコピックロッドとトラス状に配置された干渉ワイヤ駆動を用いた長尺アーム機構「Truss Arm」の提案

Abstract

<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>

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