Design of a second generation articulated leg for the GAVIA underwater vehicle

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DOI	Resolve DOI: https://doi.org/10.4224/8895451
Author	Search for: Williams, S.
Format	Text, Technical Report
Subject	Gavia; articulated leg; autonomous underwater vehicle; AUV
Abstract	This report details the design of a folding leg mechanism used by the Gavia for pipeline inspection. There is a brief introduction to the Gavia and the previous leg system. A list of requirements and challenges is then presented. The theoretical design is given and described. The encoder system and wheel choice is then explained. A force analysis is completed and a virtual model of the leg, created in MatLAB, is displayed. Finally, a conclusion is given with suggestions for future work.
Publication date	2006
Publisher	National Research Council of Canada. Institute for Ocean Technology
Place	St. John's, Newfoundland
Series	Student Report (National Research Council of Canada. Institute for Ocean Technology), no. SR-2006-13 (2006).
Language	English
NRC number	NRC-IOT-6341
NPARC number	8895451
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Record identifier	b7ce766c-c4d4-459d-b9b3-7938cb9b9b2a
Record created	2009-04-22
Record modified	2022-09-27