Development of a Decommissioning Robot with a Simple Structure Capable of Traversing Steps Using Two Different Drive Systems

Authors:
raw_author_name: Toma Takei
raw_affiliation_string: National Institute of Technology, Asahikawa College, 2-2-1-6 Shunkodai, Asahikawa, Hokkaido 071-8142, Japan
raw_author_name: Shuichiro Ogake
raw_affiliation_string: Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan
raw_author_name: Kazuma Kobayashi
raw_affiliation_string: National Institute of Technology, Asahikawa College, 2-2-1-6 Shunkodai, Asahikawa, Hokkaido 071-8142, Japan
raw_author_name: Satoshi Mitsui
raw_affiliation_string: National Institute of Technology, Asahikawa College, 2-2-1-6 Shunkodai, Asahikawa, Hokkaido 071-8142, Japan
raw_author_name: Toshifumi Satake
raw_affiliation_string: National Institute of Technology, Asahikawa College, 2-2-1-6 Shunkodai, Asahikawa, Hokkaido 071-8142, Japan
raw_author_name: Naoki Igo
raw_affiliation_string: Tokyo Information Design Professional University, 2-7-1 Komatsugawa, Edogawa-ku, Tokyo 132-0034, Japan

Abstract: In response to the imperative need for robotic involvement in the decommissioning of the Fukushima Daiichi Nuclear Power Plant, a proactive initiative was undertaken. This initiative led to the organization of the “7th Decommissioning Creative Robot Contest,” in which pivotal challenges related to nuclear plant decommissioning were addressed. Recognizing inaccessible areas within a decommissioned plant, the primary objective of this study was to develop a remotely operated robot capable of executing decontamination tasks in such environments. Two distinct locomotion systems were designed: mecanum wheels and crawlers. The mecanum wheels, characterized by their ability to execute approximately 100 mm vertical movements, facilitated the robot to surmount obstacles, particularly by negotiating 100 mm steps by engaging the tracks. Simultaneously, to address decontamination tasks at elevated locations, a threefold expandable ladder truck system was integrated, augmenting the operational range of the robot. Participation in the contest provided a platform for showcasing the developed technologies and validating their practicality. Despite encountering challenges during competition, such as damage to one locomotion system, the other locomotion system can be used to reach the destination. Experience serves as a crucial means of verifying technological advancements. Issues such as malfunctions in the range of motion control due to faulty limit switch contacts and unexpected loads on the tire elevation motors were noted, which hindered the achievement of the anticipated results. Despite these drawbacks, the adopted structural design demonstrates notable advantages, particularly in terms of maneuverability. The combination of mecanum wheels and crawlers along with a ladder truck system demonstrated adaptability to various scenarios. This adaptability holds significant promise for future nuclear power plant decontamination applications. While the competition may not have yielded the desired outcome, the lessons learned and the verified practicality of the developed technologies reinforce their potential utility in addressing the future challenges of nuclear plant decommissioning.