Preliminary design of the multi-legged underwater walking robot CR200

Author

Jun, B.H. ; Shim, H. ; Kim, B. ; Park, J.Y. ; Baek, H. ; Lee, P.M. ; Kim, W.J. ; Park, Y.S.

Author_Institution

Ocean Syst. Eng. Res. Dept., Korea Ocean R&D Inst., Daejeon, South Korea

fYear

2012

fDate

21-24 May 2012

Firstpage

1

Lastpage

4

Abstract

This paper presents the design results of the underwater walking robot named CR200 which is able to perform the precise inspection and manipulation in underwater tidal and low visibility environment. The main mission of the CR200 is to survey and inspect the subsea structure and shipwrecks in the cost of Korea Peninsula. The CR200 has 6 legs for mechanical contact with seabed and the forward 2 legs also work as robotic arms for underwater manipulation. The CR200 endures the tidal current by controlling the posture of its streamlined body and legs so the hydrodynamic forces on the body and legs work to improve the stability margin. The numerical simulations were performed for the evaluation of current loads acting on the CR200 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 CR200 to calculate forces and moments induced by incoming current with angles.

Keywords

Navier-Stokes equations; autonomous underwater vehicles; dexterous manipulators; flow simulation; hydrodynamics; inspection; legged locomotion; numerical analysis; position control; ships; stability; ANSYS-CFX package; CR200 design; Korea Peninsula; Reynolds-averaged Navier-Stokes equations; fluid flow simulation; hydrodynamic forces; low visibility environment; mechanical contact; multilegged underwater walking robot design; numerical simulations; posture control; robotic arms; shipwrecks; stability margin improvement; streamlined body; subsea structure inspection; tidal current; underwater manipulation; underwater tidal environment; Force; Hydrodynamics; Legged locomotion; Numerical stability; Stability criteria; CR200; crabster; hydrodynamic forces; stability; underwater walking robot;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS, 2012 - Yeosu

Conference_Location

Yeosu

Print_ISBN

978-1-4577-2089-5

Type

conf

DOI

10.1109/OCEANS-Yeosu.2012.6263600

Filename

6263600