DOI QR코드

DOI QR Code

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

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

  • 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))
  • 투고 : 2014.01.16
  • 심사 : 2014.02.12
  • 발행 : 2014.04.01

초록

본 논문은 200 미터급 다관절 복합이동 해저로봇(크랩스터, CR200)에 적용된 탄소섬유 복합소재 몸체 프레임의 구조해석에 대하여 다루고 있다. CR200 의 몸체 프레임은 탄소섬유 복합소재를 이용한 강화 플라스틱으로 제작되어 가볍고 강하며, 사람의 늑골구조를 모방하여 설계되었기 때문에 외부 하중을 효과적으로 분산시킬 수 있다. 해상에서 모선과 크레인을 사용하여 CR200 을 진수하거나 인양할 때, 해상상황에 따라 모선 운동에 의한 동적 하중이 몸체 프레임에 전달되기 때문에 프레임에 대한 진수 및 인양 조건에서의 구조적 해석이 필요하다. 구조해석의 신뢰성을 확보하기 위하여 본 논문에서는 몸체 프레임의 시편시험 결과를 이용하여 구조해석을 수행하고, 기존 금속재질의 프레임 모델과 구조적 특성을 비교하여 탄소섬유 복합소재 프레임의 구조적 특성을 정량적으로 비교하였다.

키워드

크랩스터;탄소섬유 강화 플라스틱;해저보행로봇;진수 및 인양;유한요소해석

과제정보

연구 과제번호 : 다관절 복합이동 해저로봇 개발

연구 과제 주관 기관 : 해양수산부

참고문헌

  1. Shim, H.W., Jun, B.H., Lee, P.M., Baek, H. and Lee, J.H., 2010, "Workspace Control System of Underwater Tele-operated Manipulators on an ROV," Ocean Engineering, Vol. 37, pp. 1036-1047. https://doi.org/10.1016/j.oceaneng.2010.03.017
  2. Jun, B. H., Shim, H.W. and Lee, P.M., 2011, "An Approximation of Generalized Torques by the Hydrodynamic Forces Acting on Legs of Underwater Walking Robot," International Journal of Ocean System Engineering, Vol. 1, No. 4, pp. 222-229. https://doi.org/10.5574/IJOSE.2011.1.4.222
  3. Wernli, R. and Jaeger, J., 1984, "ROV Technology Update from an International Perspective," Proceeding of the MTS/IEEE OCEANS 84, pp. 639-645.
  4. Lee, P.M., Jun, B.H., Park, J.Y., Shim, H.S. Shim, Kim, J.S., Jung, H.S. and Yoon, J.Y., 2011, "An in-situ Correction Method of Position Error for an Autonomous Underwater Vehicle Surveying the Sea Floor," International Journal of Ocean System Engineering, Vol. 1, No. 2, pp. 60-67. https://doi.org/10.5574/IJOSE.2011.1.2.060
  5. Loebis, D., Sutton, R., Chudley, J. and Naeem, W., 2004, "Adaptive Tuning of Kalman Filter via Fuzzy Logic for an Intelligent AUV Navigation System," Control Engineering Practice, Vol. 12, No. 12, pp. 1531-1539. https://doi.org/10.1016/j.conengprac.2003.11.008
  6. Lin, P., Komosuglu, H. and Koditchek, D., 2005, "A Leg Configuration Measurement System for Full-Body Pose Estimates in a Hexapod Robot," IEEE Trans. On Robotics, Vol. 21, No. 3, pp.411-422. https://doi.org/10.1109/TRO.2004.840898
  7. Shim, H.W., Jun, B.H. and Lee, P.M., 2013, "Mobility and Agility Analysis of a Multi-legged Subsea Robot System," Ocean Engineering, Vol. 61, pp. 88-96. https://doi.org/10.1016/j.oceaneng.2013.01.001
  8. Jun, B.H., Shim, H.W., Park, J.Y., Kim, B.H., Lee, P.M., Kim, W.J. and Park, Y.S., 2011, "A New Concept and Technologies of Multi-Legged Underwater Robot for High Tidal Current Environment," Proc. of IEEE Symposium on Underwater Technology (UT), and 2011 Workshop on Scientific Use of Submarine Cables and Related Technologies (SSC), pp. 1-5.
  9. Takahashi, H., Iwasaki, M., Akizono, J., Asakura, O., Shiraiwa, S. and Nakagawa, K., 1993, "Development of an Aquatic Walking Robot for Underwater Inspection," the Report of the Port and Harbor Research Institute, Vol. 31, No. 5, pp. 313-357.
  10. Schmucker, A. and Inme, T., 1996, "Hexagonal Walking Vehicle with Force Sensing Capability," Proceedings of the International Symposium on Measurement and Control in Robotics(ISMCR), pp. 354- 359.
  11. Weidemann, H.J., Pfeiffer, F. and Elize, J., 1994, "Sixlegged TUM Walking Robot," In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1026-1033.
  12. Yoo, S., Jun, B., Shim, H. and Lee, P., 2013, "Finite Element Analysis of Carbon Fiber Reinforced Plastic Frame for Multi-legged Subsea Robot," Journal of Ocean Engineering and Technology, Vol. 27, No. 6, pp. 65-72. https://doi.org/10.5574/KSOE.2013.27.6.065
  13. Korean Industrial Standards M 3006, 2003
  14. Korean Industrial Standards B 0804, 2001
  15. Rules for Building and Classing : Underwater Vehicles, Systems and Hyperbaric Facilities, American Bureau of Shipping, 2010.

피인용 문헌

  1. Design of Static Gait Algorithm for Hexapod Subsea Walking Robot: Crabster vol.38, pp.9, 2014, https://doi.org/10.3795/KSME-A.2014.38.9.989
  2. Dynamic Tumble Stability Analysis of Seabed Walking Robot in Forward Incident Currents vol.39, pp.8, 2015, https://doi.org/10.3795/KSME-A.2015.39.8.743
  3. A Property of Crack Propagation at the Specimen of CFRP with Layer Angle vol.40, pp.12, 2016, https://doi.org/10.3795/KSME-A.2016.40.12.1013
  4. An Analytical Study on Crack Behavior Inside Standard Compact Tension Specimen with Holes vol.40, pp.6, 2016, https://doi.org/10.3795/KSME-A.2016.40.6.531