Development of Robots Working in High Radiation Environment for Decommissioning Fukushima Daiichi Nuclear Power Plant

摘要

Workable and operable robots remotely, in high radiation environment have developed for decommissioning Fukushima Daiichi Nuclear Power Station (1F). This paper has described the development of shape changing robot (PMORPH) and flexible structure arm (Muscle robot). PMORPH has developed to conduct investigations inside primary containment vessel (PCV) for confirmation of fuel debris diffusion conditions out of a pedestal. PMORPH can change its shape suitably to pass through a small diameter pipe and travel on rough planes with few electronic devices on it in order to improve its radiation tolerance. PMORPH investigated inside PCV, taking images with distribution of dose rate. A Muscle robot has developed to apply for fuel debris retrieval; the Muscle robot consists of hydraulic cylinders and springs without any electronic devices in order to improve its radiation tolerance, applying to various work of fuel debris retrieval with replacing the attachment tools and mechanism elements. Five (5) prototype robots have verified the Muscle robot performance.