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

  • 제39권8호
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  • Pages.743-749
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  • 2015
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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전방 입사조류에 대한 해저보행로봇의 동적 전복안정성 해석

Dynamic Tumble Stability Analysis of Seabed Walking Robot in Forward Incident Currents

  • 전봉환 (선박해양플랜트연구소 해양시스템연구부 수중로봇연구실) ;
  • 심형원 (선박해양플랜트연구소 해양시스템연구부 수중로봇연구실) ;
  • 유승열 (선박해양플랜트연구소 해양시스템연구부 수중로봇연구실)
  • Jun, Bong-Huan (Marine Robotics Lab, Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engine) ;
  • Shim, Hyungwon (Marine Robotics Lab, Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engine) ;
  • Yoo, Seongyeol (Marine Robotics Lab, Ocean System Engineering Research Division, Korea Research Institute of Ships & Ocean Engine)
  • 투고 : 2014.08.12
  • 심사 : 2015.06.17
  • 발행 : 2015.08.01
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초록

본 논문에서는 해저보행로봇 크랩스터(CR200)의 전방 입사 조류에 대한 동적 전복안정성에 대하여 연구하였다. CR200 은 우리나라 근해 환경의 특징인 강조류 환경에서 운용될 수 있도록 설계되었고, 몸체도 유체역학적 요소를 고려하여 제작되었다. 해저보행로봇의 동적 전복안정성을 판단하기 위하여 육상보행로봇의 동적 전복안정성의 개념을 도입하여 수중환경에 맞도록 전복 판별식을 재정의하고 이를 이용해 전방 조류에 대한 동적 전복안정성을 시뮬레이션으로 해석하였다. 이를 위하여 조류속도가 변할 때 CR200 의 자세변화에 따른 유동해석 결과를 이용하였다. 또한 CR200 의 지지다리를 이동하여 전복축의 위치가 바뀌었을 경우에 대하여 해석을 수행하여 전복축의 이동에 따른 CR200 의 전복안정성 개선효과를 확인하였다.

In this paper, we describe the dynamic tumble-stability analysis of a seabed-walking robot named Crabster (CR200) in forward-incident currents. CR200 is designed to be operated in tidal-current conditions, and its body shape is also designed to minimize hydrodynamic resistances considering hydrodynamics. To analyze its tumble stability, we adopt the dynamic stability margin of a ground-legged robot and modify the definition of the margin to consider tidal-current effects. To analyze its dynamic tumble stability, we use the estimated hydrodynamic forces that act on the robot in various tidal-current conditions, and analyze the dynamic tumble-stability margin of the robot using the estimated results obtained for the various tidal-current conditions. From the analyses, we confirm the improved tumble stability of the robot according to the movement of the tumble axis caused by the supporting points of the legs.

키워드

참고문헌

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