Conceptual Design, Kinematics and Dynamics of Vector Thruster for Underwater Vehicle Based on Screw Theory

Author(s): Yuan Chen*, Liang Tang, Lingyun Han, Han Xu.

Journal Name: Recent Patents on Mechanical Engineering

Volume 13 , Issue 1 , 2020

Become EABM
Become Reviewer


Background: The vector propulsion device can significantly improve the sensitivity and mobility of the mechanism. Furthermore, thrust vectoring technology with single manipulator and multidimensional attitude is a novel thrust vectoring technique in industry, especially in aviation fields. Numerous progresses made by various research groups and the newest patents in these aspects will be cited in this paper.

Objective: To apply the thrust vectoring technology to Autonomous Underwater Vehicles (AUVs), a spherical parallel vectored thruster with three Degree-Of-Freedom (DOF) was proposed based on vector deflection constrained screw method.

Methods: Firstly, in the framework of screw theory, the topological structure of the spherical parallel mechanism was modeled to analyze the motion characteristics. Secondly, in terms of closed chain constraint equations, the vectored algebra method was employed to derive the Jacobian matrix of the mechanism. Thirdly, the decoupling structure configuration method was adopted to establish the analytical model of velocity and acceleration. Finally, the dynamic model was established by means of virtual work principle.

Results: The forward and inverse solutions of the mechanism was calculated; the Jacobian matrix of the mechanism was derived; the kinematic characters including singularity and dexterity were analyzed; the performance analysis was carried out.

Conclusion: This new type of underwater vehicle oriented power plant, which is characterized by simple decoupling structure, strong steering capability, and high cost-efficiency, has broad prospects in the field of AUV.

Keywords: Autonomous underwater vehicles, dynamic model, performance, screw theory, spherical parallel mechanism, vectored thruster.

Kybeom K, Gregory L, Ryan PR, Dimitri NM. A study on simultaneous design of a Hall Effect Thruster and its low-thrust trajectory. Acta Astronautica 2016; 119: 34-47.
Roque SP, Cecilia E, Garcia C, Cesar AA, Rafael AS. Experiences and results from designing and developing a 6 DOF underwater parallel robot. Robot Auton Syst 2011; 59: 101-12.
Gao FD, Pan CY, Yang Z, Feng QT. Nonlinear mathematics modeling and analysis of the vectored thruster autonomous underwater vehicle in 6-DOF motions. J Mech Eng 2011; 47(5): 93-100.
McCullough J, Oldroyd PK, Wiinikka MA, Choi JJ. Rotor assembly having thrust vectoring capabilities. US2018339773 (2018)
Oldroyd PK, McCullough JR. Aircraft having multiple independent yaw authority mechanisms. US2018297711 (2018)
Muthukumar P. Neutral axis duct with tandem telescopic thrust vectoring leading and trailing edge propellers for multi-mode spatial vehicle. WO2018154592 (2018)
Zhang Z, Zhang L, Wang X. Unmanned aerial vehicle with omnidirectional thrust vectoring. WO2018098437 (2018)
Cobb NI. Multi-axis thrust vectoring aircraft configuration. US2018016004 (2018)
Sadek SA. Vertical takeoff and landing unmanned aerial vehicle. US9694906 (2016)
Bosch D. Unmanned aerial system. US2017158320 (2017)
Moriwaki A, Tajiri S, Fujisawa F, Hyuga D. Thrust vectoring device. US2016326987 (2016)
Yan S, Lu C, Xiong Y. Ring-shaped honeycomb excitation vector propulsion double-rotor aircraft. CN108750080 (2006)
Han FK. Vector propulsion multi-rotor UAV structure. CN107235141 (2017)
He XH, Wang LX, Huang WN. Airship with two-axis linkage propeller vector propulsion device. CN105620709 (2006)
Nie Y, Yang YC, Wang XW, Zhu RC, Li ZJ, Zhang YL. Vector propulsion device and airship. CN204916152 (2015)
Sun YS, Wang ZY. Zhang, G.C., Li, Y.M., Cao, J., Luo, Y. A spherical underwater robot based on vector propulsion. CN107697244 (2018)
Sun YS, Wang ZY, Zhang GC, Tang TZ, Zhang CM, Wang YQ. A dish-shaped underwater robot based on vector propulsion. CN109018277 (2018)
Wu JG, Wang D, Gong HW, Wang CQ, Wang W. Underwater robot (vector propulsion and channel advancement). CN304599699 (2018)
Wu JG, Wang D, Gong HW, Wang CQ, Wang W. Underwater robot (vector propulsion). CN304599700 (2018)
Zheng K, Zhang Z, Shang J, Luo Z, Tian Z. A hybrid propulsion method for underwater vehicle. International Conference on System Science, Engineering Design and Manufacturing Informatization. Yichang, China. November 2010.
Lv CX, Yin WT, Liu BH, Yue QJ, Wang ZY, Liu J. A vector-propelled four-rotor underwater vehicle. CN108423145 (2018)
Song DL, Guo TT, Zhang YH, Jiang QL. Deformation submersible based on buoyancy drive and shaftless vector propulsion and its working method. CN108820173 (2018)
Si YL, Wang YQ, Mao JM, Feng RD, Sun JL, Liu X. Underwater helicopter based on vector propulsion. CN109050838 (2018)
Xie DT. A water toy and bionic fish with a vector thrust system. CN206604190 (2018)
Xie Y, Tan L. Research on conceptual design of vector propulsion hybrid underwater vehicle. Ship Eng 2015; 37(8): 107-10.
Huang Y, Yan S, Wang Y. Adaptive control of vector propulsion underwater vehicle. J Projectiles Rockets Missiles Guid 2006; 1: 175-8.
Wang Y, Lin X, Song S. Dynamic modeling and simulation of vector propulsion autonomous underwater vehicle. J Tianjin Univ (Nat Sci Eng Technol) 2014; 47(2): 143-8.
Wang Y, Lin XT, Song SJ, Liu YH, Zhang HW, Wang SX. Dynamics Modeling and simulation of vector propulsion autonomous underwater vehicle. J Tianjin Univ (Nat Sci Eng Technol) 2014; 47(2): 143-8.
Wang P, Li H, Yuan L. Design of weak field speed regulation system of DC motor based on DSP [J]. Micromotor (Servo Technology) 2006; (06): 59-62+88.
Geng J, Xu X, Xu H, Hu S. Unmanned underwater vehicle single vectored thruster system’s structural design and kinematics analysis DEStech Trans Eng Technol Res 2017.
Huang Y, Lin P, Li Y. Mathematical modeling of vector propulsion auv based on single swing body. Mine Warfare Ship Prot 2014; 22(4): 36-40.
Chen S, Wei M, Li Y. AUV steering control method based on double closed loop vector thruster. J Tianjin Univ (Nat Sci EngTechnol) 2014; 47(6): 530-4.
Pan CY, Xu HJ, Gao FD, Xu XJ, Zhang X, Yi SY. An allround active vector propulsion underwater propeller device based on a ball gear mechanism. CN101513928 (2009)
Yang S, Han X, Zhang D. Design and implementation of a new pectoral fin swing mode to promote robotic fish. Robot 2008; 30(6): 508-15.
Xu HJ, Pan CY, Xu XJ, Zhang X, Yi SY. A method of three-propeller active vector propulsion. CN101596931 (2009)
Chen ZW, Jiang Y. Vector propeller propeller for submersibles. CN106945809 (2017)
Qi XD. An underwater four-propeller vector water jet propulsion device. CN108791782 (2018)
Zhou DX. A marine vector propulsion device and a ship. CN108945368 (2018)
Chai DD, Zou W, Wang SM. A ship vector propeller. CN206278248 (2017)
Zhang HW, Wang SX, Huang LM, Liu YH. An autonomous underwater vehicle vector propulsion device. CN102887217 (2013)
Fang S, Pan C, Xu H. Design and Analysis of Vector Propulsion Propeller Transmission System for Water Transport Vehicle. Machinery Manufacturing 2009; 46(01): 22-6. [J
Zhang YJ, Yan TH, Jiang WW. A small underwater robot with vector propulsion. CN109895980 (2019)
Gong ZH, Zhang Y, Lin H, Du DM, Li ZP, Ru FX. A vector motion control method for a dual-machine dual-jet water propulsion boat. CN108762263 (2018)
Zhang L, Xu HJ, Xu XJ, Zou TA, Zhang X, Zhou FL. An underwater vector propulsion device and an unmanned submersible. CN109080800 (2018)
Luo ZR, Shang JZ, Wang XM, Cong N. Tilting rotor vector propulsion device for underwater propellers. CN201371932 (2009)
Cao FH, Zhao CR, Wang SQ, Zhang Y. A vector thruster. CN202175194 (2012)
Hu HB, Li YL, Liu HH, Yang L, Yang ZD, Ding H. A vector propulsion device for small underwater unmanned aerial vehicles. CN202609068 (2012)
Liu YM, Zhou QL, Yuan B, Shao X, Sun DC, Dong TY. A new underwater vector thruster. CN204916130 (2015)
Sang Y, Zhang XJ. An underwater robot vertical vector propulsion system. CN207809739 (2018)
Yu YF. A motor thrust vector thruster. CN207875954 (2018)
Chen LW, Zhou CH. Maneuverability analysis of longitudinal motion of autonomous underwater vehicle in vector propulsion mode. Marine Eng 2011; 40(2): 119-21.
Chang X, Zou J, Huang S. Study on unsteady hydrodynamic performance of omnidirectional thrusters in non-uniform coming flow. J Harbin Eng Univ 2008; 3: 222-5.
Cao YJ, Zhang YL, Li LL, Zhao M. Design of AUV vector propeller. Automat Info Eng 2017; 38(4): 1-7.
Yang J, Guo K, Pan C. Dynamic simulation of vector thruster transmission chain. Mod Manuf Eng 2010; 6: 117-20.
Pan CY, Guo KX, Yang J, Gao FD. Dynamic analysis of underwater vector propeller. Mach Des Res 2010; 26(5): 20-3.
Wang J, Yang J. Design and analysis of underwater vector propeller system. J Changsha Univ 2013; 27(5): 24-7.
Zhang HW, Wang SX. A novel underwater vehicle parallel vector thruster structure and attitude determination method. CN103754344 (2014)
Chu HP, Zhang TS. A parallel underwater vector thruster. CN105836081 (2016)
Chen YL, Fan DP, Ren LX, Huang DN, Liu C. An underwater vector thruster based on a spatial parallel mechanism. CN106428494 (2017)
Wang R, Zhong SS, Lv JL, Sui YY, Qu HW. Two-degreeof- freedom parallel vector propulsion device. CN107244403 (2017)
Chen YL, Fan DP, Zhan Y, Yang CB, Yang S, Huang DN. A submersible equipped with a space parallel mechanism vector thruster. CN107985536 (2018)
Zhang H, Zheng Y, Liu Y. Development and field trials for seafloor-mapping AUV improving survey efficiency for deep-sea hydrocarbon exploration. Sea Technol 2013; 54(12): 21.
Wei DJ, Zhang LH, Zhang HW, Liu F. Finite element analysis of the strength of ladder type structure of the deep-water auv. Adv Mater Res 2013; 690: 1903-8.
Wu K, Yu JJ, Zong GH, Kong X. Type synthesis of 2-DOF rotational parallel mechanisms with an equal-diameter spherical pure rolling motion. Proceedings of ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2013-12305. Portland, OR. August 2013.
Kong X. Forward displacement analysis and singularity analysis of a special 2-DOF 5R spherical parallel manipulator. ASME J Mech Rob 2011; 3(2): 024501
Wu K, Yu JJ, Zong GH, Kong XW. A family of rotational parallel manipulators with equal-diameter spherical pure rotation. J Mech Robot 2013; 6(1): 267-80.
Cavallo E, Michelini RC, Filaretov VF. Conceptual design of an AUV equipped with a three degrees of freedom vectored thruster. J Intel Rob Syst 2004; 39: 365-91.
Delsignore MJ, Krovi VN. Screw-theoretic analysis models for felid jaw mechanisms. Mech Mach Theory 2008; 43: 147-59.
Jaime GA, Agustín RA, Héctor RG, Benjamín AR. Kinematics of an asymmetrical three-legged parallel manipulator by means of the screw theory. Mech Mach Theory 2010; 45: 1013-23.
Khalil I, Ahmed R, Mohamed F, Yo K, Ahmed AI, Masakatus GF. Development of a new 4-DOF endoscopic parallel manipulator based on screw theory for laparoscopic surgery. Mechatronics 2015; 28: 4-17.
Victor G. Design of decoupled parallel manipulators by means of the theory of screws. Mech Mach Theory 2010; 45: 239-50.
Guo S, Fang YF, Yue C. Structure synthesis of single closed-loop multi-degree of freedom of over-constrained mechanism based on screw theory. J Mech Eng 2009; 45(11): 38-45.
Glazunov VA, Levin SV, Shalyukhin KA, Hakkyoglu M, Tung VD. Development of mechanisms of parallel structure with four degrees of freedom and partial decoupling. J Mach Manuf Reliab 2010; 39(5): 407-11.
Gallardo J, Rico JM, Frisoli A, Checcacci D, Bergamasco M. Dynamics of parallel manipulators by means of screw theory. Mech Mach Theory 2003; 38: 1113-31.
Gosselin CM, Angeles J. A global performance index for the kinematic optimization of robotic manipulators. J Mech Des 1991; 3: 220-6.

Rights & PermissionsPrintExport Cite as

Article Details

Year: 2020
Page: [79 - 92]
Pages: 14
DOI: 10.2174/2212797613666191230121122
Price: $25

Article Metrics

PDF: 11