LAUSR.org creates dashboard-style pages of related content for over 1.5 million academic articles. Sign Up to like articles & get recommendations!

A novel vectored thruster based on 3-RPS parallel manipulator for autonomous underwater vehicles

Photo from wikipedia

Abstract Autonomous underwater vehicles (AUVs), which serve as main tool platforms, have played an important role in underwater surveys in scientific, military, and commercial applications. However, conventional AUVs are unable… Click to show full abstract

Abstract Autonomous underwater vehicles (AUVs), which serve as main tool platforms, have played an important role in underwater surveys in scientific, military, and commercial applications. However, conventional AUVs are unable to perform missions at zero or low forward speeds because the control surfaces are ineffective in this regime. This paper presents novel vectored-thruster AUVs based on a 3-R P S parallel manipulator; the performance of the AUVs at zero and low forward speeds is found to be effectively improved. The 3-R P S parallel manipulator used for the thrust-vectoring mechanism provides certain advantages, including high positioning accuracy, fast response and compact structure. Additionally, studies of the kinematics and dynamics of the thrust-vectoring mechanism have been performed through a theoretical analysis and numerical simulation. Meanwhile, a simplified kinematics method for the 3-R P S parallel manipulator is presented and verified in MATLAB. The analysis and numerical simulation of the thrust-vectoring mechanism prove the feasibility of the design. Using this novel thrust-vectoring mechanism based on the 3-R P S parallel manipulator, the AUVs obtain the ability to provide the motion required for thrust-vectoring propulsion effectively and efficiently.

Keywords: underwater vehicles; manipulator; thrust vectoring; mechanism; parallel manipulator; autonomous underwater

Journal Title: Mechanism and Machine Theory
Year Published: 2019

Link to full text (if available)


Share on Social Media:                               Sign Up to like & get
recommendations!

Related content

More Information              News              Social Media              Video              Recommended



                Click one of the above tabs to view related content.