Abstract
Thrust vectoring technology with single manipulator and multidimensional attitude is a novel thrust vectoring method in underwater vehicle. In order to complete both the rotational transmission and attitude adjustment, a two degree of freedom (DOF) spherical thrust vectoring parallel manipulator are proposed. Its forward and inverse kinematic solutions are formulated. And the dynamic model is established by Lagrange’s formulation and the principle of energy equivalence. Finally, numerical simulation results validate the efficiency of kinematic and dynamic models.
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Acknowledgments
Grateful acknowledgement is given to the financial supports from the National Natural Science Foundation of China with Grant No. 51375264. This work was also partially supported by State Key Laboratory of Robotics and System (HIT) with Grant No. SKLRS-2015-MS-06, and Research Awards Fund for Excellent Young and Middle-aged Scientists of Shandong Province with Grant No. BS2013ZZ008.
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Xu, H., Chen, Y., Gao, J. (2016). Dynamic Modeling of RR-RRR Spherical Parallel Manipulator for Vector Thruster. In: Huang, B., Yao, Y. (eds) Proceedings of the 5th International Conference on Electrical Engineering and Automatic Control. Lecture Notes in Electrical Engineering, vol 367. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48768-6_21
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DOI: https://doi.org/10.1007/978-3-662-48768-6_21
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