수중로봇 유압작동유의 체적변화 검증을 위한 실험적 연구

Abstract

In order to determine the appropriate volume of a pressure compensator, this paper introduces about the verification test with the hyperbaric chamber. At design stage of underwater robots, it is crucial to determine the capacity of the hydraulic compensator which is replenished as much as the contracted oil volume of the robots. The pilot mining robot, MienRo and Buffer was manufactured to work at the 6,000m depth. The hydraulic working oil in MineRo and Buffer are under hydrostatic pressure of about 600bar. Even if oil is assumed as incompressibility material, the volume is actually changed under high pressure due to air contained in oil and oil contraction. To determine the capacity of the pressure compensator, the oil contraction rate should be verified through the experimental test using hyperbaric chamber.aulic compensator which is replenished as much as the contracted oil volume of the robots. The pilot mining robot, MienRo and Buffer was manufactured to work at the 6,000m depth. The hydraulic working oil in MineRo and Buffer are under hydrostatic pressure of about 600bar. Even if oil is assumed as incompressibility material, the volume is actually changed under high pressure due to air contained in oil and oil contraction. To determine the capacity of the pressure compensator, the oil contraction rate should be verified through the experimental test using hyperbaric chamber.