论文信息 - Design and Kinematics Analysis of UPR-UPU-UR Parallel Vector Propulsion Mechanism for Underwater Vehicles

Design and Kinematics Analysis of UPR-UPU-UR Parallel Vector Propulsion Mechanism for Underwater Vehicles

A two-degree-of-freedom parallel vector propulsion mechanism is proposed, and a suitable coordinate system is established. The position inverse solution, workspace, velocity and acceleration models of UPR-UPU-UR parallel vector propulsion mechanism are constructed by analytical geometry method and closed-loop constraint equation, and the accuracy is verified. Numerical verification was performed using MATLAB to determine the correctness of the theoretical analysis. Finally, the singularity of the mechanism is analyzed by Jacobi, and the reachable workspace of the parallel mechanism is solved by numerical search method. It verifies the rationality of the mechanism motion performance and theoretical analysis.

Shuqi Liu | Wei Zhao

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