Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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A Study on the Efficient Flexible Multibody Dynamics Modeling of Deep Seabed Integrated Mining System with Subsystem Synthesis Method

부분시스템 합성방법을 이용한 심해저 통합 채광시스템의 효율적인 유연 다물체 동역학 모델링 연구

  • Yun, Hong-Seon (Dept. of Mechanical Design Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.) ;
  • Lee, Chang Ho (Technology Center for Offshore Plant Industries, Korea Research Institute of Ships and Ocean Engineering) ;
  • Kim, Hyung-Woo (Technology Center for Offshore Plant Industries, Korea Research Institute of Ships and Ocean Engineering)
  • 윤홍선 (충남대학교 기계설계 메카트로닉스 공학과) ;
  • 김성수 (충남대학교 메카트로닉스 공학과) ;
  • 이창호 (선박해양플랜트연구소 해양플랜트산업기술센터) ;
  • 김형우 (선박해양플랜트연구소 해양플랜트산업기술센터)
  • Received : 2015.05.19
  • Accepted : 2015.08.24
  • Published : 2015.12.01
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Abstract

A deep seabed integrated mining system consists of a mining vessel, a lifting pipe, a buffer station, a flexible pipe, and a mining robot for collecting manganese nodules. Recently, the concept of multiple mining robots was introduced to enhance to mining productivity. In this paper, the subsystem synthesis method was applied to the deep seabed integrated mining system in order to improve the efficiency of system analysis and to facilitate its extension to the system of multiple mining robots. Large deflections of the lifting and flexible pipe were considered by dividing a flexible pipe into several substructures, and applying flexible multibody dynamics to each substructure. Theoretical study has been carried out for the efficiency of the subsystem synthesis method for the integrated mining system, by comparing the arithmetic operational counts of the subsystem synthesis method with those of the conventional method.

망간단괴를 채집하는 심해저 통합 채광시스템은 채광선, 수직양광관, 중간버퍼, 유연관, 채광로봇으로 구성되어 있다. 최근 심해저 통합 채광시스템 연구에서는 생산성을 극대화하기 위한 다수의 채광로봇으로 구성되는 새로운 다중로봇 통합 채광시스템의 개념이 소개되었다. 본 논문에서는 다중로봇 통합 채광시스템 해석의 효율성을 향상시키고, 다중로봇 시스템의 확장이 이하도록 부분시스템 합성방법이 적되었다. 또한 유연 다물체 동역학이 적된 부분구조로 나눔으로써 수직양광관과 유연관의 대변위가 고려되었다. 일반적인 해석방법과 부분시스템 합성방법의 산술 연산 횟수를 비교함으로써 통합 채광시스템의 부분시스템 합성방법의 이론적인 효율성 연구가 수행되었다.

Keywords

References

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