Design of a Second Generation Articulated Leg for the GAVIA Underwater Vehicle

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TypeTechnical Report
Series titleStudent Report
SubjectGavia; articulated leg; autonomous underwater vehicle; AUV
AbstractThis 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
PublisherNational Research Council Canada. Institute for Ocean Technology
PlaceSt. John's, NL
AffiliationNRC Institute for Ocean Technology; National Research Council Canada
Peer reviewedNo
NRC number6341
NPARC number8895451
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Record identifierb7ce766c-c4d4-459d-b9b3-7938cb9b9b2a
Record created2009-04-22
Record modified2016-10-03
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