Development of an Intersection Module for a Modularized Rail Structure – Implementation of Compliant Mechanisms for a Replacing Task of Movable Parts –
Rui Fukui*, Gen Kanayama*, Yuta Kato**, Ryo Takahashi***, and Shin’ichi Warisawa*
*Department of Human and Engineered Environmental Studies, Graduate School of Frontier Sciences, The University of Tokyo
5-1-5 Kashiwa-no-ha, Kashiwa-shi, Chiba 277-8563, Japan
**Central Japan Railway Company
JR Central Towers, 1-1-4 Meieki, Nakamura-ku, Nagoya, Aichi 450-6101, Japan
1-7-1 Konan, Minato-ku, Tokyo 108-0075, Japan
For decommissioning of the Fukushima Daiichi Nuclear Power Station, we are developing an “automated construction system for a modularized rail structure.” The intersection module developed in this study produces structure branches and changes robot attitudes. To maintain module functions, assuming the anticipated malfunctions caused by high-radiation environments, remotely controlled robots are used to replace malfunctioning parts of the module. To facilitate maintenance tasks, small positioning errors must be accommodated. This compliant function can be realized by the maintenance robot or the module. To elucidate effective combinations of the compliant mechanisms, experiments are conducted using prototypes. Experimental results confirm that the compliant mechanism of the robot contributes more efficiently than that of the module. This study is expected to be applied to practical distributed robotic systems because it is necessary to replace malfunction parts as simply as possible if they are replaced by remotely controlled robots.
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