Design of small, low-cost, underwater fin manipulator

Abstract

This thesis details the development of a small, low cost, underwater manipulator for use on the XAUV. At this time, there are no cheap underwater servos commercially available. The design involves modifying a commercially available servo so that it is waterproof and can provide the appropriate amount of torque. The manipulator is intended rotate the fins of the XAUV in order to enhance overall mobility and speed. The project includes a detailed design process resulting in a final design, which was built.