Unmanned Underwater Vehicle Single Vectored Thruster System’s Structural Design and Kinematics Analysis

Abstract

Put forward a new type of Unmanned Underwater Vehicle Vectored Thruster, can produce controllable propulsion both on directions and power, realization of Unmanned Underwater Vehicle’s high mobility under the condition of low speed. Through two sets of push rod slider mechanism, to achieve rotations on two orthogonal direction (yaw and pitch), and movements on two orthogonal direction are not affected with each other. Completed the overall design of the vectored thruster, and the kinematics model is established. The simulation based on Adams is taken. The simulation results show that through the three motors’ control, can make the propeller shaft produces controllable propulsion both on directions and power, thus laid a foundation for further research of the vectored thruster.