Finite Element Analysis of CFRP Frame under Launch and Recovery Conditions for Subsea Walking Robot, Crabster

다관절 복합이동 해저로봇에 적용된 탄소섬유 복합소재 프레임에 대한 진수 및 인양 조건에서의 구조해석

  • Yoo, Seong-Yeol (Ocean System Engineering Research Division, Korea Research Institute of Ship & Ocean Engineering (KRISO)) ;
  • Jun, Bong-Huan (Ocean System Engineering Research Division, Korea Research Institute of Ship & Ocean Engineering (KRISO)) ;
  • Shim, Hyungwon (Ocean System Engineering Research Division, Korea Research Institute of Ship & Ocean Engineering (KRISO)) ;
  • Lee, Pan-Mook (Ocean System Engineering Research Division, Korea Research Institute of Ship & Ocean Engineering (KRISO))
  • Received : 2014.01.16
  • Accepted : 2014.02.12
  • Published : 2014.04.01


This study applied finite element analysis (FEA) to the body frame of the 200-meter class multi-legged subsea walking robot known as Crabster (CR200). The body frame of the CR200 is modeled after the ribcage of a human so that it can disperse applied external loads. It is made of carbon-fiber-reinforced plastic (CFRP). Therefore, the frame is lighter and stronger than it would be if it were made of other conventional materials. In order to perform FEA for the CFRP body frame, we applied the material properties of the CFRP as obtained from a specimen test to an FE model of CFRP frame. Finally, we performed FEA with respect to the load conditions encountered when the robot is launched into and recovered from the sea. Also, we performed FEA for the frame, assuming that it was fabricated using a conventional material, in order to compare its characteristics with CFRP.


Crabster;Carbon Fiber Reinforced Plastic;Subsea Walking Robot;Launch and Recovery;Finite Element Analysis


Grant : 다관절 복합이동 해저로봇 개발

Supported by : 해양수산부


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