해저보행 CR200의 설계와 조류환경에서의 안정성 검토

Abstract

In this paper, we present the design result and stability analysis result of underwater walking robot CR200. To perform underwater working in current and low visibility environment, the CR200 is designed as six-legged underwater walking robot with acoustic imaging system. The shape of body is streamlined in the consideration of hydrodynamic characteristics. The stability criteria of underwater robot is presented to analyze the tumble stability of CR200. The stability criteria is defined as the minimum potential energy by considering the hydrodynamic forces to the normalized energy stability margin. The hydrodynamic forces acting on the robot in current is estimated by the numerical simulation using ANSYS-CFX. The tumble stability of CR200 is analyzed in the presented stability criteria and estimated hydrodynamic forces. robot with acoustic imaging system. The shape of body is streamlined in the consideration of hydrodynamic characteristics. The stability criteria of underwater robot is presented to analyze the tumble stability of CR200. The stability criteria is defined as the minimum potential energy by considering the hydrodynamic forces to the normalized energy stability margin. The hydrodynamic forces acting on the robot in current is estimated by the numerical simulation using ANSYS-CFX. The tumble stability of CR200 is analyzed in the presented stability criteria and estimated hydrodynamic forces.