Investigation of an Underwater Vectored Thruster Based on 3RPS Parallel Manipulator

<div>The tilt angle and angle change. (a) <i>θ</i><sub><i>ri</i></sub>. (b) <svg height="8.68572pt" id="M24" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 8.46388 8.68572" width="8.46388pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 0V24L339 665L311 657L43 24V0H600ZM497 50H107L303 539L497 50Z"></path></g></svg><i>θ</i><sub><i>ri</i></sub>. (c) <i>θ</i><sub><i>ti</i></sub>. (d) <svg height="8.68572pt" id="M25" style="vertical-align:-0.0498209pt" version="1.1" viewbox="-0.0498162 -8.6359 8.46388 8.68572" width="8.46388pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M600 0V24L339 665L311 657L43 24V0H600ZM497 50H107L303 539L497 50Z"></path></g></svg><i>θ</i><sub><i>ti</i></sub>.</div>

Mathematical Problems in Engineering

fig11

Figure 11

Figure 11: Investigation of an Underwater Vectored Thruster Based on 3RPS Parallel Manipulator 