RA-L 201963 citations
Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator
Gen Endo, Atsushi Horigome, Atsushi Takata
Abstract
The decommissioning of the Fukushima Daiichi Nuclear Power Plants is a national urgent problem in Japan. The distribution and characteristics of the fuel debris inside the nuclear reactor must be investigated to safely retrieve them. This letter describes a 10-m-long articulated manipulator for investigation inside the primary container vessel. We employed a coupled tendon-driven mechanism and a gravity compensation mechanism using synthetic fiber ropes to design a lightweight and slender articulated manipulator. After discussing the basic principle and control algorithm, we focus on the detailed mechanical design of a prototype model. We confirmed its feasibility through basic motion experiments.
BibTeX
@inproceedings{ral2019_superdragona10ml,
title = {Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator},
author = {Gen Endo and Atsushi Horigome and Atsushi Takata},
booktitle = {RA-L 2019},
year = {2019}
}