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해저보행로봇 CR200의 설계와 조류환경에서의 안정성 검토
전봉환(Bong-Huan Jun),심형원(Hyungon Shim),박연석(Yeon-Seok Park),김우전(Wu-Joan Kim) 한국해양환경·에너지학회 2012 한국해양환경공학회 학술대회논문집 Vol.2012 No.5
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 considxering 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.