로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제17권4호
  • /
  • Pages.493-499
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  • 2022
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
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6000톤급 자율운항선박을 위한 자동계류장치 설계 및 구조 최적화에 대한 연구

A Study on the Design and Structure Optimization of an Automatic Mooring System for a 6000 ton Class Autonomous Ship

  • Kim, Namgeon (Mechanical Engineering, Yeungnam University) ;
  • Shin, Haneul (Automotive Engineering, Yeungnam University) ;
  • Kim, Teagyun (Mechanical Engineering, Yeungnam University) ;
  • Park, Jihyuk (Automotive Engineering, Yeungnam University)
  • 투고 : 2022.09.01
  • 심사 : 2022.09.29
  • 발행 : 2022.11.30
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초록

This paper presents the design for the kinematic structure of a system for an automatically moored 6000 ton autonomous ship in a port, and the process and results of optimal design for the link cross-sectional shape. We propose an automatic mooring system with a PPP type serial manipulator structure capable of linear motion in the XYZ axis. The mooring force applied by the mooring system was derived with dynamics simulation tool "ADAMS". The design goal is the minimization of the cross-sectional area of the link. Constrains include compressive stress and shear stress. The optimization problems were solved by using the sequential quadratic programing method implemented in the fmincon package. The shape of the cross section was assumed to be rectangle. Through future research, we plan to manufacture automatic mooring system for 6000ton class autonomous ship.

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과제정보

이 논문은 2022년 해양수산부 재원으로 해양수산과학기술진흥원의 지원을 받아 수행된 연구임(스마트 항만-자율운항선박연계 기술개발).

참고문헌

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