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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of a Specialized Underwater Leg Convertible to a Manipulator for the Seabed Walking Robot CR200

해저 보행 로봇 CR200을 위한 매니퓰레이터 기능을 갖는 다리 개발

  • 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)
  • 강한구 (한국해양과학기술원 해양시스템연구부) ;
  • 심형원 (한국해양과학기술원 해양시스템연구부) ;
  • 전봉환 (한국해양과학기술원 해양시스템연구부) ;
  • 이판묵 (한국해양과학기술원 해양시스템연구부)
  • Received : 2013.05.15
  • Accepted : 2013.06.30
  • Published : 2013.08.01
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Abstract

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.

Keywords

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