Development of Extended Super Dragon Articulated Robot Arm with a Linear Telescopic Boom
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- NAGAI Toshiya
- Tokyo Tech
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- ZHENG Bing
- Tokyo Tech
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- TAKATA Atsushi
- Tokyo Tech
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- KIKURA Hiroshige
- Tokyo Tech
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- TAKAHASHI Hideharu
- Tokyo Tech
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- ENDO Gen
- Tokyo Tech
Bibliographic Information
- Other Title
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- 直動型テレスコピックブームによる拡張型Super Dragon多関節ロボットアームの開発
Abstract
<p>It is necessary to explore the bottom of the RPV in order to accelerate the decommissioning of the Fukushima Daiichi Nuclear Power Plant. A coupled tendon-driven articulated robot arm, Super Dragon, has been developed to deploy the investigation equipment into the containment vessel. In this paper, we developed an extended Super Dragon with a length of 15.4 m by modifying and integrating the telescopic boom so that it can be mounted on the Super Dragon. Experiments were conducted to raise the telescopic boom vertically and to lift and hold the deployed telescopic boom horizontally. We confirmed the basic movements required to explore the bottom of the RPV.</p>
Journal
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- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2022 (0), 2P2-R04-, 2022
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390857512438272256
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- ISSN
- 24243124
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
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- Abstract License Flag
- Disallowed