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• W2912795814 abstract "The decommissioning of the Fukushima Daiichi Nuclear Power Plants is a national urgent problem in Japan. The distribution and characteristics of the fuel debris inside the nuclear reactor must be investigated to safely retrieve them. This letter describes a 10-m-long articulated manipulator for investigation inside the primary container vessel. We employed a coupled tendon-driven mechanism and a gravity compensation mechanism using synthetic fiber ropes to design a lightweight and slender articulated manipulator. After discussing the basic principle and control algorithm, we focus on the detailed mechanical design of a prototype model. We confirmed its feasibility through basic motion experiments." @default.
• W2912795814 created "2019-02-21" @default.
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• W2912795814 date "2019-04-01" @default.
• W2912795814 modified "2023-09-30" @default.
• W2912795814 title "Super Dragon: A 10-m-Long-Coupled Tendon-Driven Articulated Manipulator" @default.
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• W2912795814 doi "https://doi.org/10.1109/lra.2019.2894855" @default.
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