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.
Author supplied keywords
Cite
CITATION STYLE
Xu, H., Chen, Y., & Gao, J. (2016). Dynamic modeling of RR-RRR spherical parallel manipulator for vector thruster. In Lecture Notes in Electrical Engineering (Vol. 367, pp. 181–187). Springer Verlag. https://doi.org/10.1007/978-3-662-48768-6_21
Register to see more suggestions
Mendeley helps you to discover research relevant for your work.
