수중건설로봇 경작업 ROV URI-L의 추진성능 검증 회류수조 시험

Abstract

The maximum velocity of the URI-L ROV was measured 2.8kts in the water tank. At the design step, the ROV was expected to run at the velocity of over 3.5 knots with 6 thrusters of 5.5kW each. The resistance and thrust of the ROV at different flow velocity were measured in the circulation water channel to analyze the discrepancy of its maximum velocities. It is confirmed that the thrusters arranged at 45˚ have a greater thrust attenuation than the thrusters arranged in the forward direction.