Parallel vector propulsion mechanism of autonomous underwater vehicle

An underwater vehicle and vector propulsion technology, which is applied to underwater ships, underwater operating equipment, motor vehicles, etc., can solve the problems of weakened rudder control effect and cannot meet the requirements of AUV complexity and flexibility, and achieve optimization Effects of dynamic performance, increased stiffness, and error avoidance

Inactive Publication Date: 2014-01-29
TIANJIN UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this context, the traditional fin-rudder control method can no longer meet the complexity and flexibility

Method used

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  • Parallel vector propulsion mechanism of autonomous underwater vehicle
  • Parallel vector propulsion mechanism of autonomous underwater vehicle
  • Parallel vector propulsion mechanism of autonomous underwater vehicle

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Embodiment Construction

[0016] The present invention will be further described in detail below in combination with specific embodiments.

[0017] The invention relates to a parallel vector propulsion mechanism of an autonomous underwater vehicle, comprising a static platform and a dynamic platform, the static platform is provided with a propeller main propulsion motor, the dynamic platform is provided with a propeller drive shafting, and the static platform is There are three sets of branch chains between the moving platform, and the three sets of branch chains include two sets of six degrees of freedom U P The S active branch chain and a set of U branch chains with two degrees of freedom, the static platform, the dynamic platform and the three groups of branch chains form a two-degree-of-freedom spherical three-bar parallel mechanism, and the two-degree-of-freedom U branch chain and the dynamic platform Solid connection, the two-degree-of-freedom U branch chain is perpendicular to the plane where th...

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Abstract

The invention discloses a parallel vector propulsion mechanism of an autonomous underwater vehicle. The parallel vector propulsion mechanism comprises a static platform and a mobile platform, wherein a propeller main motor is arranged on the static platform, a propeller drive shaft system is arranged on the mobile platform, three groups of branch chains are arranged between the static platform and the mobile platform and consist of two groups of six-degree-of-freedom UPS driving branch chains and one group of two-degree-of-freedom U-shaped branch chains, the static platform, the mobile platform and the three groups of branch chains form a two-degree-of-freedom spherical three-link parallel mechanism, and the two-degree-of-freedom U-shaped branch chains are fixedly connected with the mobile platform and are perpendicular to a plane of the mobile platform; an SPS transmission branch chain is also arranged between the static platform and the mobile platform, and is used for transferring the torque and motion of the main motor into the propeller drive shaft system. The parallel vector propulsion mechanism has the advantages of being good in low-speed steering performance, high in rigidity, high in motion precision, high in motion response speed, and the like.

Description

technical field [0001] The invention relates to the field of marine exploration tools, and more specifically, relates to a thruster structure of an AUV. Background technique [0002] AUV is a kind of underwater robot. It is a cable-free underwater robot. It is customarily called an autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV). With the continuous expansion of the scope of AUV applications, designers have put forward higher requirements for AUV's underwater operation task capability and complex environment adaptability, especially for AUV maneuverability and mobility. In this context, the traditional fin-rudder control method can no longer meet the complexity and flexibility requirements of AUV's underwater movement to a certain extent. Propulsion devices are one of the effective solutions. Vector propulsion is also called thrust steering technology, which means that the propulsion system of a space moving object can provide propulsion in the direction...

Claims

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Application Information

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IPC IPC(8): B63C11/52B63G8/08
Inventor 张宏伟王树新郑炎魏东杰
Owner TIANJIN UNIV
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