Fuel debris simulants for the gripper design of decommissioning robot manipulator in Fukushima Daiichi (1F)

Nakashima, Shinsuke*; Moro, A.*; Komatsu, Ren*; Faragasso, A.*; Matsuhira, Nobuto*; Woo, H.*; Kawabata, Kuniaki   ; Yamashita, Atsushi*; Asama, Hajime*

Fuel debris retrieval is the fundamental task for decommissioning Fukushima Daiichi (1F). The presence of high radiation intensively affects the performance of conventional robotic systems which in many cases, due to failure of the electronic components, become obstacles to be retrieved. New systems and techniques are required to cope with the current limitations and find efficient solutions. This research presents the design approach exploiting rapid prototyping of a gripper system for a manipulator used to retrieve fuel debris on the bottom of the PCV (Primary Container Vessel). Modeling of the gripper is performed in simulations to find the relations between the ligaments that constrain the bending motion. The debris simulants and the fabricated 3D-printed gripper are shown.