Design and Manufacture of a New Debris Retrieval Robot
Yohei Kobayashi, Ryotaro Kayawake, Keito Sagane, Kazuaki Murai, and Yasuo Utsumi
National Institute of Technology, Maizuru College
234 Shiroya, Maizuru, Kyoto 625-8511, Japan
This is a report on the No.2 debris retrieval robot that has been developed. While unit 1 was a machine built to demonstrate basic ideas, such as the arm mechanism, the robot that was designed and manufactured this time was developed with an emphasis on its structure and the functions that can be used at the decommissioning site. Only the ideas of a crawler that can run through a thin pipe and a telescopic arm mechanism to access debris were carried over from unit 1; all other parts for debris retrieval robot No.2 were redesigned. The crawler was made from metal with significantly increased rigidity to improve the running performance of the robot. In addition, to improve maneuverability, an omnidirectional camera unit was installed. As the view of this camera is not limited to the direction of travel of the robot, it makes it possible for the operator to have a better grasp of situations that the robot may encounter. The debris collection mechanism was changed to a more reliable mechanism that is not affected by the shape of the debris. The arm expansion and contraction mechanisms were also changed to a more reliable structure.
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