The invention discloses a three degree of freedom parallel type vector propelling device and an underwater robot having same, and belongs to the underwater vehicle technical field; the three degree of freedom parallel type vector propelling device comprises a static platform and a movable platform; three motion branch chains are formed between the static and movable platforms, and comprise a RR motion branch chain with a 90-degree arc connecting rod, and a RRR motion branch chain with a 90-degree and 45-degree arc connection rod, and the two motion branch chains and the movable and static platforms commonly form a sphere two-degree of freedom parallel mechanism; a RUC middle motion transmission branch chain is also arranged between the movable and static platforms, and used for transmitting torque and motions of a main propelling motor to a propeller. The propeller deflection and the middle motion transmission branch chain motion are combined, so various propelling gestures of the propeller can be realized, and the propeller motion transmission can be realized. The three degree of freedom parallel type vector propelling device is convenient in mounting, the branch chains are simple in layout, convenient in control, and the low speed steering performance is good.
Three degree of freedom parallel type vector propelling device and underwater robot having same
2016-01-06
Patent
Electronic Resource
English
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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