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

<div>Driving forces of actuators at <i>α</i> = <i>α</i><sub><i>s</i></sub> and <i>β</i> = 0.</div>

Mathematical Problems in Engineering

Figure 15: Investigation of an Underwater Vectored Thruster Based on 3RPS Parallel Manipulator 