트랙기반의 수중로봇 구조 및 추진체 설계 연구

Abstract

In this thesis, The design of UTR(Underwater Track Robot) which has the benefit of Remotely Operated Vehicle and Track Robot. The UTR was designed to be able to operated in 100m water. It is connected with the USV(Unmmaned Surface Vehicle), and able to follow the path of USV. Its body is linked by a cable with the USV which has power and communication line inside. The control box, motor cylinders, and harmonic cylinders were designed in order to resist the pressure under 100 m water. The control box is located in the back side of body. The motor driving part which is located in the front of the body, is covered by horning pipes, so that it can be a water proof. The total mass estimate of UTR is calculated as 100 kg. The driving part of UTR was designed to maximize the efficiency and speed using 150 W motors. Then, the motor capacity of the driving part and water proof of them were studied. For the driving part and control box, pressure-resistant analysis and buckling analysis enduring the pressure of the 100 m depth were performed. In addition, the dynamics of UTR, the design of the caterpillar wheel and its width on the soft sediment were studied.