심해무인잠수정의 구조 시스템 설계

Abstract

A deep sea UUV(Unmanned Underwater Vehicle) is under development at KORDI/MOERI in Korea. The UUV will be used for scientific research and have 6,000 meters depth rating. The UUV system is composed of two vehicles, an ROV named HEMIRE and a launcher named HENUVY. These vehicles were designed to have an open frame structure and have pressure vessels of almost same design. This paper presents the design of the each vehicle frames and pressure vessels. Two types of pressure vessels were designed. One is a main pressure vessel and the other is a motor controller housing. The frames and the pressure vessels were structurally analysed for performance verification. The safety factors of the frames were more than 4 from analysis. Finally, the pressure vessels were tested in the pressure chamber in JAMSTEC and the strains on the pressure vessels were measured. Comparison of estimated strains from analysis and measured strains shows deviation errors of less than 5%.