다관절 해저로봇 Crabster에 작용하는 조류하중 산정 및 유동해석

Abstract

In this study, numerical simulations were performed for the evaluation of current loads acting on a multi-legged underwater robot Crabster with a variety of incident angles using ANSYS-CFX package. The Reynolds-averaged Navier-Stokes equations were solved to simulate the fluid flow around the Crabster to calculate forces and moments induced by incoming current with angles. In the first, for the assessment of posture stability of the body, forces and moments were calculated with various incident angles when the current acts for vertical and horizontal direction. In the next, two leg forms (box and foil types) were evaluated for the comparison of the hydrodynamic force variation. Finally, the current forces and moments acting on the Crabster body with the legs attached were estimated.