2026-09-18T22:49:29Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/430142022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
John Leonard.
Roberts, Megan Johnson
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2008-11-07T18:52:09Z
2008-11-07T18:52:09Z
2007
2008
http://hdl.handle.net/1721.1/43014
240698689
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2008.
Includes bibliographical references (p. 28).
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.
by Megan Johnson Roberts.
S.B.
28 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design of small, low-cost, underwater fin manipulator
Thesis
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