Design of the underwater link-joint system for the multi-legged underwater robot “CR200”

This paper presents the design of an underwater link-joint system for developing of a 200m class six-legged subsea robot. The design includes a process with concept establishment, specific design for joint capability and mechanical drawing. First deals with the definition of degree of freedom which is the link-joint system. Second is the design with calculation of velocity and torque of joints, selection of motor, reduction gears, sensors, and driver. Final is the mechanical design of configuration of the underwater link-joint system. Especially, the specific design is based on simple static and dynamic force analysis considering the performance requirement. And the mechanical design includes the thickness calculation of joint pressure vessel for satisfying the required pressure-resistant capability, and shows the detailed design using 2D and 3D computer aided design(CAD) software. This paper describes the whole design process of the underwater link-joint system for manufacturing the leg of CR200.