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.
National Research Council of Canada. Institute for Ocean Technology
St. John's, Newfoundland
Student Report (National Research Council of Canada. Institute for Ocean Technology), no. SR-2006-13 (2006).