심해 무인잠수정의 설계 및 구조해석에 관한 연구 - 프레임 설계 최적화 및 내압용기 안전성 검토

Abstract

This paper presents the examination on the design reliability of the pressure vessel and the design optimization of the frame of a 6,000m depth rated deep-sea unmanned underwater vehicle (UUV) under development by Korea Research Institute of Ships and Ocean Engineering (KRISO), KORDI. The UUV composed of three vehicles - an ROV, an AUV and a launcher - exceeds 3 tons in air including underwater equipment and manipulators. It is necessary to make the system optimal design in weights and inside space of the frame to embed equipment. The UUV was selected with the aluminum alloy(Al6061-T6, Al7075-T6), because of the minimization of total weight and corrosion problems in seawater. This paper presents the structural analysis of the ROV especially. The initial design of the ROV frame was conducted with ANSYS in terms of linear structural analysis, and also performed optimization through sensitivity analysis technique. The design of the cylindrical pressure vessels for the electric equipment and processors of the ROV was preformed to resist the extreme pressure, 600 bars, using the elastio-plastic analysis of ANSYS. This paper also calculates the collapse pressure in buckling mode for the reinforced cylinder and the bare cylinder through a theoretical analysis.