200m급 천해용 다관절 해저 로봇의 전기전자 시스템의 설계

Abstract

The Korea Ocean Research and Development Institute (KORDI) has been developing a 200m depth rated multi-legged underwater robot named CR200. This robot has six legs totally. Each leg has 4 degrees of freedom. Two legs which are installed on the front of the robot have manipulators. CR200s goal is to inspect sunken ships or underwater structures. Also CR200 is supposed to do underwater manipulator operation. In this paper, electrical & electronic system for CR200 is introduced. Sensor interface is also presented. CR200 is supplied 190VDC from the mother ship. This main power is converted to proper voltage and distributed to every devices, sensors, motors and motor drivers. We designed Crabster Integrate Control System (CICS) to interface various sensors including a single-beam scanning sonar, multi-beam acoustic camera and optic cameras to survey underwater environment. Various types of communication protocol are converted to Ethernet and connected to the mother ship through a fiber optic cable.d on the front of the robot have manipulators. CR200s goal is to inspect sunken ships or underwater structures. Also CR200 is supposed to do underwater manipulator operation. In this paper, electrical & electronic system for CR200 is introduced. Sensor interface is also presented. CR200 is supplied 190VDC from the mother ship. This main power is converted to proper voltage and distributed to every devices, sensors, motors and motor drivers. We designed Crabster Integrate Control System (CICS) to interface various sensors including a single-beam scanning sonar, multi-beam acoustic camera and optic cameras to survey underwater environment. Various types of communication protocol are converted to Ethernet and connected to the mother ship through a fiber optic cable.