심해용 다관절 복합이동 해저로봇 CR6000의 설계

Abstract

This paper presents a part of design of 6,000m class multi-legged seabed robot CRABSTER 6000(CR6000) for deep-sea application. The design purpose of CR6000 is the development of walking and swimming robot for precise scientific survey and underwater work in the deep-sea environment. For special movement and applications, the robot is designed as a six-legged robot similar to the 200m class seabed walking robot CR200 developed by KRISO. The dimensions, joint structure, mass distribution, and underwater equipments are determined by the requirement analysis of deep-sea seabed robot. The proposed design includes the conceptual design of external shape, mechanical structure, and electrical distribution. Also, this paper describes the selected underwater equipments and the basic design of mechanical part such as body frame, leg, and pressure vessel.nderwater work in the deep-sea environment. For special movement and applications, the robot is designed as a six-legged robot similar to the 200m class seabed walking robot CR200 developed by KRISO. The dimensions, joint structure, mass distribution, and underwater equipments are determined by the requirement analysis of deep-sea seabed robot. The proposed design includes the conceptual design of external shape, mechanical structure, and electrical distribution. Also, this paper describes the selected underwater equipments and the basic design of mechanical part such as body frame, leg, and pressure vessel.