심해용 다관절 해저로봇의 수중 링크 관절 시스템 개발

Abstract

This paper presents the development of underwater link-joint system for the deep-sea seabed robot CRABSTER 6000(CR6000). The link-joint system is designed on the basis of existing 200m class seabed robot CR200, which acts as a test-bed for development of the deep-sea leg with walking and swimming function. The maximum joint torques of the system are calculated through a simple static force analysis based on computational fluid dynamics analysis. The suitable joint actuators, reduction gears, encoders and drivers are selected by consideration of the calculated results and the leg of CR200. The frames of link and joint are built with oil filled structure and joint limiter for setting of initial joint angle. Also, the pressure compensator for hydraulic balance and the pressure vessel for delicate motor controller in high pressure environment are designed. The joint-link system is built by fabricating the mechanical parts and assembling them. In order to verify the performance of the system, the 600bar watertight pressure-resistance test and operating test in air are performed. This paper describes the whole design and implementation process of the underwater link-joint system briefly.development of the deep-sea leg with walking and swimming function. The maximum joint torques of the system are calculated through a simple static force analysis based on computational fluid dynamics analysis. The suitable joint actuators, reduction gears, encoders and drivers are selected by consideration of the calculated results and the leg of CR200. The frames of link and joint are built with oil filled structure and joint limiter for setting of initial joint angle. Also, the pressure compensator for hydraulic balance and the pressure vessel for delicate motor controller in high pressure environment are designed. The joint-link system is built by fabricating the mechanical parts and assembling them. In order to verify the performance of the system, the 600bar watertight pressure-resistance test and operating test in air are performed. This paper describes the whole design and implementation process of the underwater link-joint system briefly.