심해무인잠수정의 기계 구조 시스템 설계

Abstract

A deep sea UUV(Unmanned Underwater Vehicle) is under development at KORDI/KRISO in Korea. The UUV is designed for scientific researches and its design depth is 6,000 meters. The UUV system is composed of two vehicles, an ROV named HEMIRE and a launcher named HENUVY. The vehicles were designed to have an open frame structure and have pressure vessels of almost same design. This paper presents the design procedures of the each vehicle frame and pressure vessels. Two types of pressure vessels were designed. One is main pressure vessel and the other is motor controller housing. The frames and the pressure vessels were structurally analysed for performance verification. The safety factors of the frames were more than 4 from analysis. Finally The pressure vessels were tested in the pressure chamber in JAMSTEC and the strains on the pressure vessels were measured. Comparison of estimated strains from analysis and measured strains shows deviation errors of less than 5%.