Development of a Robot for Decontamination of High Places and Decommissioning Work That Can Cope with Slopes and Steps

• DOI: 10.3390/electronics12112403
• Publication Date: 2023-05-26T05:52:43Z
• Authors: Shuichiro Ogake; Yu Yoshimura; Koki Inoue; Shu Kobayashi; Kazuma Kobayashi; Satoshi Mitsui; Toshifumi Satake; Naoki Igo
• Keywords: Nuclear decommissioning; Human decontamination; Thermonuclear Fusion

In this study, a robot was created to compete in the “7th Decommissioning Creative Robot Contest. The “Decommissioning Contest” is contest which fields and tasks are set based on assumption of decommissioning work at TEPCO’s Fukushima Daiichi Nuclear Power Station. theme year’s competition 3D decontamination highly contaminated area inside nuclear reactor building. To solve problem, we propose for equipped with “an undercarriage mechanism that can cope slopes steps”, “a two types rotation trajectories”, lifting high deformation rate. uses four-wheel drive infinite orbit steps. different orbits decontamination: circular rotating longitudinal rotation. For mechanism, three pantograph mechanisms were used. This study realized control overcome steps slopes, deployment places, carefully decontaminate large area.