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Individual Pitch Control Based on Radial Basis Function Neural Network Read chapter Read first chapter

2016 | OriginalPaper | Chapter

Dynamic Modeling of RR-RRR Spherical Parallel Manipulator for Vector Thruster

Authors : Han Xu, Yuan Chen, Jun Gao

Published in: Proceedings of the 5th International Conference on Electrical Engineering and Automatic Control

Publisher: Springer Berlin Heidelberg

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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.

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Metadata
Title
Dynamic Modeling of RR-RRR Spherical Parallel Manipulator for Vector Thruster
Authors
Han Xu
Yuan Chen
Jun Gao
Copyright Year
2016
Publisher
Springer Berlin Heidelberg
Book
Proceedings of the 5th International Conference on Electrical Engineering and Automatic Control

Print ISBN: 978-3-662-48766-2

Electronic ISBN: 978-3-662-48768-6

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-662-48768-6_21