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

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-RPS parallel manipulator; the performance of the AUVs at zero and low forward speeds is found to be effectively improved. The 3-RPS 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-RPS 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-RPS parallel manipulator, the AUVs obtain the ability to provide the motion required for thrust-vectoring propulsion effectively and efficiently.