트랙기반 수중건설로봇의 운동 모델링 및 성능 해석에 관한 연구

Abstract

The ROV performing the mission in place of a human being is required in the field of underwater construction that is dangerous working environment in the deep water. Especially, in the case of the work such as laying cable and pipe-line under the seabed, the tracked-vehicle has advantage in gaining tractive force and dynamic performance.

This thesis mainly focuses on the development of track-based underwater construction robot. In all sorts of engineering design and manufacture, the result of performance analysis according to the design changes can be easily checked through the numerical simulation using computer. Also, dynamic behavior analysis can be categorized as Multi-body model, modeling each component to make similar to real model, and Single-body model, modeling real model as a rigid body. In this thesis, tracked vehicle's dynamic performance of the two models, single-body model and Multi-body model, were compared through the numerical simulation. The dynamic analysis program of the tracked vehicle was developed using Matlab/Simulink and RecurDyn.

Moreover, the trencher model was applied to the simulator for analysis of vehicle's tractive force.