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

Table 2

Parameters of the thrust-vectoring mechanism.

Symbol	Value (unit)
dr	50 (mm)
dt	10 (mm)
lr	250 (mm)
	35 (mm)
lb−p	70 (mm)
	100 (N)
Fb−p	30 (N)
Fgi	20 (N)
Tp	200 (N)
Ip	diag (3.2 3.2 1.54) (kg · m^2)
Ii	diag (24.5 24.5 0.1) (kg · m^2)
mt	0.1 (kg)
P	60000
I	40000
D	15000