Development of Undercarriage of Underwater Rover with Driving Mechanism of Quad-track

Abstract

Since 2020, the Korea Research Institute of Ships and Ocean Engineering (KRISO) has developed the core technologies based on the Cyber-Physical System (CPS) for the smart operation of underwater robots. The underwater rover of an experimental model scale has been designed and manufactured to evaluate these technologies. The rover model was developed from the undercarriage consisting of a body frame, a driving system, a hydraulic system, and a monitoring-control system. The undercarriage with a quad-track’s driving mechanism is equipped with many sensors, a data acquisition board of high-speed communication, and a high-precision controller for the realization of the cyber technology represented by computation or digitalization.