Flow Analysis around Multi-Legged Underwater Robot

doi:2012.26.5.47

J. Ocean Eng. Technol. > Volume 26(5); 2012 > Article

J. Ocean Eng. Technol. 2012;26(5):47-54.
DOI: https://doi.org/10.5574/KSOE.2012.26.5.047

Flow Analysis around Multi-Legged Underwater Robot "Crabster" to Evaluate Current Loads

Park Yeon-Seok,Kim Wu-Joan,Jun Bong-Huan

Dept. of Ocean Engineering Mokpo National University,Dept. of Ocean Engineering Mokpo National University,Ocean System Engineering Research Department KIOST

다관절 해저로봇 'Crabster'에 작용하는 조류하중 산정 및 유동해석

박연석,김우전,전봉환

목포대학교 해양시스템공학과,목포대학교 해양시스템공학과,한국해양과학기술원 해양시스템연구부

Keywords: Underwater robot, Crabster, Numerical simulation, Current, Hydrodynamic force, Reynolds Averaged Navier-Stokes equation

핵심용어: 해저로봇, 크랩스터, 수치해석, 조류, 유체력, RANS 방정식

Abstract

In this study, numerical simulations were performed to evaluate the current loads acting on the multi-legged underwater robot "Crabster" with a variety of incident angles using the ANSYS-CFX package. The Reynolds-averaged Navier-Stokes equations were solved to simulate the fluid flow around Crabster to calculate the forces and moments induced by incoming currents with various angles. First, to assess the posture stability of the body, the forces and moments were calculated with various incident angles when the current acted in the vertical and horizontal directions. Next, two forms of legs (box and foil types) were evaluated to determine the hydrodynamic force variation. Finally, the current forces and moments acting on the Crabster body with the legs attached were estimated.