Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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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
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Abstract

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.

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.

Keywords

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