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

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Symbol</td><td class="align_center">Value (unit)</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left"><i>r</i><sub>1</sub></td><td class="align_center">100 (mm)</td></tr><tr><td class="align_left"><i>r</i><sub>2</sub></td><td class="align_center">60 (mm)</td></tr><tr><td class="align_left"><i>h</i></td><td class="align_center">330 (mm)</td></tr><tr><td class="align_left"><i>h</i><sub><i>r</i></sub></td><td class="align_center">10 (mm)</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Geometric Parameters of the thrust-vectoring mechanism.</div>

Mathematical Problems in Engineering

tab1

Table 1

Table 1: Investigation of an Underwater Vectored Thruster Based on 3RPS Parallel Manipulator 