JRM Vol.28 No.3 pp. 371-377
doi: 10.20965/jrm.2016.p0371


Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage

Rongmin Zhang, Yuan Chen, and Jun Gao

School of Mechanical, Electrical & Information Engineering, Shandong University at Weihai
Wenhuaxilu 180, Weihai 264209, China

Corresponding author

November 20, 2015
March 8, 2016
June 20, 2016
underwater vehicle, vectored thruster, dynamic model, maneuverability
Vectored underwater vehicles (VUVs) are receiving increasing research attention, in part for their maneuverability. In our work, we apply a novel vectored thruster based on a spherical parallel mechanism to an underwater vehicle. We present and calculate the scaling factor based on the vectored thruster’s configuration parameters and set up a six DOF kinematic model. We construct a nonlinear dynamic model of the VUV without appendages using the Newton-Euler method. To demonstrate the VUV’s transverse maneuverability, we set up a perturbation model in a complex domain using Laplacian transformation, and propose the stability margin of vectored propulsion as a maneuverability index. Many numerical examples are provided to verify the maneuverability of the VUV.
Solid model of a vectored underwater vehicle

Solid model of a vectored underwater vehicle

Cite this article as:
R. Zhang, Y. Chen, and J. Gao, “Numerical Investigation on Transverse Maneuverability of a Vectored Underwater Vehicle Without Appendage,” J. Robot. Mechatron., Vol.28 No.3, pp. 371-377, 2016.
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