제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제19권8호
  • /
  • Pages.709-717
  • /
  • 2013
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

해저 보행 로봇 CR200을 위한 매니퓰레이터 기능을 갖는 다리 개발

Development of a Specialized Underwater Leg Convertible to a Manipulator for the Seabed Walking Robot CR200

  • 강한구 (한국해양과학기술원 해양시스템연구부) ;
  • 심형원 (한국해양과학기술원 해양시스템연구부) ;
  • 전봉환 (한국해양과학기술원 해양시스템연구부) ;
  • 이판묵 (한국해양과학기술원 해양시스템연구부)
  • Kang, Hangoo (MOERI (Maritime and Ocean Engineering Research Institute)/KIOST (Korea Institute of Ocean Science & Technology) Ocean System Engineering Research Division) ;
  • Shim, Hyungwon (MOERI (Maritime and Ocean Engineering Research Institute)/KIOST (Korea Institute of Ocean Science & Technology) Ocean System Engineering Research Division) ;
  • Jun, Bong-Huan (MOERI (Maritime and Ocean Engineering Research Institute)/KIOST (Korea Institute of Ocean Science & Technology) Ocean System Engineering Research Division) ;
  • Lee, Pan-Mook (MOERI (Maritime and Ocean Engineering Research Institute)/KIOST (Korea Institute of Ocean Science & Technology) Ocean System Engineering Research Division)
  • 투고 : 2013.05.15
  • 심사 : 2013.06.30
  • 발행 : 2013.08.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper presents the development of a specialized underwater leg with a manipulator function(convertible-to-arm leg) for the seabed walking robot named CRABSTER200(CR200). The objective functions of the convertible-to-arm leg are to walk on the seabed and to work in underwater for precise seabed exploration and underwater tasks under coastal area with strong tidal current. In order to develop the leg, important design elements including the degree of freedom, dimensions, mass, motion range, joint structure/torque/angular-speed, pressure-resistance, watertight capability and cable protection are considered. The key elements of the convertible-to-arm leg are realized through concept/specific/mechanical design and implementation process with a suitable joint actuator/gear/controller selection procedure. In order to verify the performance of the manufactured convertible-to-arm leg, a 25bar pressure-resistant and watertight test using a high-pressure chamber and a joints operating test with posture control of the CR200 are performed. This paper describes the whole design, realization and verification process for implementation of the underwater convertible-to-arm leg.

키워드

참고문헌

  1. U.S. Navy, Diving Manual Vol. 2 Air Diving Operations, Rev. 6, 2008.
  2. P. Lee, C. Lee, B. Jun, H. Choi, J. Li, S. Kim, K. Kim, Y. Lim, S. Yang, S. Hong, S. Han, B. Gu, S. Lee, Y. Seo, T. Aoki, and A. Bowen, "System design and development of a deep-sea unmanned underwater vehicle 'HEMIRE' for oceanographic research," Proc. of the 16th International Offshore and Polar Engineering Conference (ISOPE), San Francisco, vol. 2, pp. 205-212, May-June 2006.
  3. L. L. Whitcomb, J. Kinsey, D. Yoerger, C. Taylor, A. Bowen, B. Walden, and D. Fornari, "Navigation upgrades to the national deep submergence facility vehicles D.S.V. Alvin, Jason 2, and the DSL-120A," Eos Trans. AGU, vol. 84. no. 46, 2003.
  4. T. Murashima, H. Nakajoh, H. Yamauchi, and H. Sezoko, "7000m class ROV KAIKO7000," Proc. of MTS/IEEE Oceans'04, Kobe, vol. 2, pp. 812-817, 2004.
  5. B. Jun, H. Shim, B. Kim, J. Park, J. Park, H. Baek, P. Lee, and Y. Lim, "Development plan of a new concept seabed robot 'CR200'," Proc. of The Korean Society of Ocean Engineers Conference (in Korean), Mokpo, pp. 73-78, Oct. 2010.
  6. http://www.youtube.com/watch?v=SwbAnGcoIBY
  7. D. E. Okhotsimski and A. K. Platonov, "Control algorithm of the walking climbing over obstacles," Proc. of the Third International Joint Conference on Artificial Intelligence, Stanford, California, pp. 317-323, 1973.
  8. E. A. Devjanin, V. S. Gurfinkel, E. V. Gurfinkel, V. A. Kartashev, A. V. Lensky, A. Yu Shneider, and L. G. Shtilman, "The sixlegged walking robot capable of terrain adaptation," Mechanism and Machine Theory, vol. 18, pp. 257-260, 1983. https://doi.org/10.1016/0094-114X(83)90114-3
  9. H.-J. Weidemann, F. Pfeiffer, and J. Eltze, "A design concept for legged robots derived from the walking stick insect," Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, pp. 545-552, July 1993.
  10. U. Schmucker, A. Schneifer, and T. Inme, "Hexagonal walking vehicle with force sensing capability," Proc. of the International Symposium on Measurement and Control in Robotics (ISMCR), Brussels, pp. 354-359, May 1996.
  11. H. Takahashi, M. Iwasaki, J. Akizono, O. Asakura, S. Shiraiwa, and K. Nakagawa, "Development of an aquatic walking robot for underwater inspection," Report of the Port and Harbour Research Institute, vol. 31, no. 5(30th Anniversary issue), pp. 313-357, Mar 1993.
  12. T. Tanaka, H. Sakai, and J. Akizono, "Design concept of a prototype amphibious walking robot for automated shore line survey work," Proc. of the MTS/IEEE OCEANS 04, Kobe, Japan, pp. 834-839, Nov. 2004.
  13. T. Tanaka and T. Shiraishi, "Development of automated shoreline surveying system using amphibious walking robot - the design concepts and the 1st field experiment," Proc. of the 23rd International Association for Automation and Robotics in Construction (IAARC), Tokyo, Japan, pp. 46-51, 2006.
  14. T. Joung, J. Lee, C. Lee, T. Hyakudome, K. Sammut, and I. Nho, "Study on the design, manufacture and pressure vessel test," Journal of Ocean Engineering and Technology (in Korean), vol. 21, no. 6, pp. 101-106, 2007.
  15. American Bureau of Shipping, Underwater Vehicles, Systems and Hyperbaric Facilities, American Bureau of Shipping, 2010.

피인용 문헌

  1. Swing Trajectory Optimization of Legged Robot by Real-Time Nonlinear Programming vol.21, pp.12, 2015, https://doi.org/10.5302/J.ICROS.2015.15.0174
  2. Dynamic Tumble Stability Analysis of Seabed Walking Robot in Forward Incident Currents vol.39, pp.8, 2015, https://doi.org/10.3795/KSME-A.2015.39.8.743