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8895451

8895451

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Published by: Juan Santiago Latigo Colli on Dec 16, 2012
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NRC Publications Archive (NPArC)Archives des publications du CNRC (NPArC)
Design of a Second Generation Articulated Leg for the GAVIAUnderwater Vehicle
Williams, S.
Contact us / Contactez nous: nparc.cisti@nrc-cnrc.gc.ca.
http://nparc.cisti-icist.nrc-cnrc.gc.ca/npsi/jsp/nparc_cp.jsp?lang=fr L’accès à ce site Web et l’utilisation de son contenu sont assujettis aux conditions présentées dans le site
Web page / page Web
http://nparc.cisti-icist.nrc-cnrc.gc.ca/npsi/ctrl?action=rtdoc&an=8895451&lang=enhttp://nparc.cisti-icist.nrc-cnrc.gc.ca/npsi/ctrl?action=rtdoc&an=8895451&lang=fr 
LISEZ CES CONDITIONS ATTENTIVEMENT AVANT D’UTILISER CE SITE WEB.READ THESE TERMS AND CONDITIONS CAREFULLY BEFORE USING THIS WEBSITE. Access and use of this website and the material on it are subject to the Terms and Conditions set forth athttp://nparc.cisti-icist.nrc-cnrc.gc.ca/npsi/jsp/nparc_cp.jsp?lang=en
 
 
DOCUMENTATION PAGE
 
REPORT NUMBER
 
SR-2006-13
NRC REPORT NUMBER
 
---
DATE
 
April 2006
REPORT SECURITY CLASSIFICATION
 Unclassified
DISTRIBUTION
 Unlimited
TITLE
 
DESIGN OF A SECOND GENERATION ARTICULATED LEG FOR THE GAVIA UNDERWATERVEHICLE
AUTHOR(S)
 Steven Williams
CORPORATE AUTHOR(S)/PERFORMING AGENCY(S)
 National Research Council, Institute for Ocean Technology (NRC-IOT)
PUBLICATION
 
---
SPONSORING AGENCY(S)
 National Research Council, Institute for Ocean Technology (NRC-IOT)
IMD PROJECT NUMBER
 42_2091_10
NRC FILE NUMBER
 
---
KEY WORDS
 
Gavia, articulated leg, autonomous underwater vehicle,AUV
PAGES
vi, 21App. A,B
FIGS
 16
TABLES
 0
SUMMARY
 
This report details the design of a folding leg mechanism used by the Gavia for pipelineinspection. 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 anddescribed. The encoder system and wheel choice is then explained. A force analysis iscompleted and a virtual model of the leg, created in MatLAB, is displayed. Finally, aconclusion is given with suggestions for future work.
ADDRESS
National Research CouncilInstitute for Ocean TechnologyArctic Avenue, P. O. Box 12093St. John's, NL A1B 3T5
Tel.: (709) 772-5185, Fax: (709) 772-2462
 
National Research Council Conseil national de recherchesCanada CanadaInstitute for Ocean Institut des technologiesTechnology océaniques
DESIGN OF A SECOND GENERATION ARTICULATED LEG FOR THEGAVIA UNDERWATER VEHICLE
SR-2006-13Steven WilliamsApril 2006
 

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