Investigation of the vectored thruster AUVs based on 3SPS-S parallel manipulator |
| |
| Institution: | 1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China;2. Key Laboratory for Unmanned Underwater Vehicle, Northwestern Polytechnical University, Xi’an 710072, China;1. Department of Mechanical Engineering, Semnan University, P.O. Box: 35196-45399, Semnan, Iran;2. Australian Maritime College, University of Tasmania, Newnham, TAS 7248, Australia;3. Harbin Institute of Technology, Weihai, 264200, China;1. Department of Industrial Engineering, University of Florence, Florence, Italy;2. DII - Dipartimento di Ingegneria dell’Informazione and Centro di Ricerca “E. Piaggio”, Università di Pisa, Pisa, Italy;1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, No. 114, Nanta Street, Shenyang, Liaoning 110016, China;2. University of Chinese Academy of Sciences, Beijing 100049, China;3. School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA;1. The state key laboratory of robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China;2. University of Chinese Academy of Sciences, Beijing, China;1. École Nationale d’Ingenieurs de Brest (ENIB), FRE CNRS 3744 IRDL, Technopôle Brest Iroise, 29238, Brest cedex 3, France;2. University of Brest, FRE CNRS 3744 IRDL, 29238, Brest Cedex 03, France;3. Shanghai Maritime University, 201306 Shanghai, China |
| |
| Abstract: | As an extremely significant tool, autonomous underwater vehicles (AUVs) obtain corresponding development which is widely used in the oceanographic survey, military applications and ocean investigation. However, it is rather hard to fulfill missions about ocean exploration in suspended status or at slow speeds for traditional AUVs, due to the effect of the control surfaces trends to decline or even invalid completely in this condition. To overcome the limitation mentioned above, a torpedo-shaped AUV with vectored thrust ducted propeller is presented in this paper, in which the vector thruster is designed based on a 3SPS-S parallel manipulator. The 3SPS-S parallel manipulator, which has merits of compact structure, high reliability, high precision and fast response, is employed for thrust vectoring control mechanism. Additionally, the kinematics and dynamics model of the thrust-vectoring mechanism is constructed, and the MATLAB simulation results show the designed vectored thruster have great application superiority and potential for AUV. Finally, a control scheme of the vectored thruster is designed after considering the case study. The main idea of this paper lies in describing a novel design of the vectored thruster AUV based on 3SPS-S parallel manipulator, which can complete the mission at zero or slow forward speeds. |
| |
| Keywords: | AUVs Vectored thruster Parallel manipulator |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
