Test methods for robots for nuclear emergency response and decommissioning; Tests for running performances of robots (JAEA-TM-0001, JAEA-TM-0002 and JAEA-TM-0003)

Kawabata, Kuniaki; Yamada, Taichi; Abe, Hiroyuki*

JAEA-Technology 2020-015, 37 Pages, 2020/11

JAEA-Technology-2020-015.pdf:3.81MB

This report describes the test procedures for evaluating running performances of remotely operated robot utilized for nuclear emergency responses and decommissioning. After the accident at Fukushima Daiichi Nuclear Power Station of the Tokyo Electric Power Company Holdings Inc. (FDNPS) occurred, remotely operated robots have been deployed and utilized in the response tasks. Such post-accident work experience and lessons learned are very valuable for developing the robots in the future. Therefore, we were motivated to develop the test methods for performance evaluation of the robot by referring with such experiences and lessons. Based on our examinations, in order to execute the response and decommissioning tasks, the robots are required to run through the space without enough margin and avoiding collisions, to move on stairs while avoiding tumbling or falling down and to drag a cable while avoiding problems caused by the cable entwining around objects. This report describes three test procedures for quantitatively evaluating the performances which are for running narrow passage, climbing up/down on the stairs and running with dragging the cable. Typical course layout and the demonstration of test running are also illustrated for the references.