[3H01-04] Decommissioning Technology for Fukushima

[3H03] Development of Remote Inspection Method using Advanced Super Dragon Articulated Robot Arm

(2)Development of an Articulated Robot Arm with Telescopic Structure

*Gen Endo¹, Toshiya Nagai¹, Atsushi Takata¹, Hiroshige Kikura¹, Hideharu Takahashi¹ (1. Tokyo Institute of Technology)

Keywords:Fukushima Daiichi Nuclear Power Station, Decomission, Remote Technologies, Robot Arm, Measurement Equipments Transportation

In order to accelerate the decommissioning of TEPCO HD Fukushima Daiichi Nuclear Power Station, it is important to understand the status inside reactors and fuel debris. In this research project, as fundamental research phase, we are developping the remote inspection method such as camera SfM (Structure from Motion), ultrasonic measurement techniques, LIBS (Laser-Induced Breakdown Spectroscopy) on a robot arm for monitoring the structure status in the reactor and the distribution of materials by a long-articulated robot arm with controlling the position and posture of the robot arm hand. In this presentation, we will report on the development of 15 m length of articulated robot arm with telescopic structure for the inspection.