原子力点検ロボットに用いる半月型クローラ車の開発

概要

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An Automated Vehicle Robot has been developed for inspection for various components inside primary containment vessel with supported by Japanese Ministry of International Trade and Industries (MITT) . The Inspection Robot consists of; a floor-moving vehicle with four crawlers; TV cameras for inspection and operation; detectors and sensors; multi-joint arm mechanism for TV camera; a signal transmitter; cable handling device.<BR>In this paper the authors discribe about the crawler type vehicle. This vehicle is developed for moving smoothly in Nuclear Power Plants. This vehicle has two steering mechanism in front and rear, and has wheelbase chaging mechanism at the center of the body. With these mechanism, this vehicle can climb up 45°-stairs (a step height; 220mm) and can rotate with short radius. The crawler type vehicle satisfied the design conditions, and system tests for inspection are now under going.
一般社団法人日本ロボット学会の論文