Design and Analysis of a Stiffness-Enhanced 3-P<u>P</u>S Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters
Vectored thrusters can significantly improve the maneuverability of underwater vehicles. However, due to the harsh underwater environment and severe working conditions, the thrust-vectoring device needs to be designed with high stiffness and high reliability. In this paper, a 3-degree-of-freedom (3-...
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| Format: | Article |
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MDPI AG
2022-01-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/2/88 |
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| author | Dexin Jiang Tianjiang Zheng Guilin Yang Yingzhong Tian Zaojun Fang Huamin Li Chi Zhang Hongwu Ye |
| author_facet | Dexin Jiang Tianjiang Zheng Guilin Yang Yingzhong Tian Zaojun Fang Huamin Li Chi Zhang Hongwu Ye |
| author_sort | Dexin Jiang |
| collection | DOAJ |
| description | Vectored thrusters can significantly improve the maneuverability of underwater vehicles. However, due to the harsh underwater environment and severe working conditions, the thrust-vectoring device needs to be designed with high stiffness and high reliability. In this paper, a 3-degree-of-freedom (3-DOF) 3-PPS parallel mechanism is employed for the 2-DOF thrust-vectoring device, which has the advantages of high stiffness and a certain level of fault tolerance. The stiffness of the 3-PPS parallel mechanism is enhanced through employing additional passive prismatic joints. Based on the zero-torsion characteristics of the parallel mechanism, closed-form solutions are obtained for displacement analyses, and the orientation workspace of the moving platform under an actuation failure, i.e., one of the active prismatic joints is locked, is particularly investigated through an equi-volumetric partition method. To analyze the orientation workspace distribution under the actuation failure, the fault-tolerant workspace and the maximum inscribed workspace are defined. Furthermore, a new fault-tolerant index is proposed to evaluate the fault tolerance of the parallel mechanism. The proposed design analysis is validated through experiments on an engineering prototype of the parallel mechanism. |
| first_indexed | 2024-03-09T21:34:25Z |
| format | Article |
| id | doaj.art-8031637874be4abc91e991122a2e1713 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T21:34:25Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-8031637874be4abc91e991122a2e17132023-11-23T20:48:06ZengMDPI AGMachines2075-17022022-01-011028810.3390/machines10020088Design and Analysis of a Stiffness-Enhanced 3-P<u>P</u>S Parallel Mechanism for Fault-Tolerant Underwater Vectored ThrustersDexin Jiang0Tianjiang Zheng1Guilin Yang2Yingzhong Tian3Zaojun Fang4Huamin Li5Chi Zhang6Hongwu Ye7School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaSchool of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, ChinaNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaNingbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo 315201, ChinaVectored thrusters can significantly improve the maneuverability of underwater vehicles. However, due to the harsh underwater environment and severe working conditions, the thrust-vectoring device needs to be designed with high stiffness and high reliability. In this paper, a 3-degree-of-freedom (3-DOF) 3-PPS parallel mechanism is employed for the 2-DOF thrust-vectoring device, which has the advantages of high stiffness and a certain level of fault tolerance. The stiffness of the 3-PPS parallel mechanism is enhanced through employing additional passive prismatic joints. Based on the zero-torsion characteristics of the parallel mechanism, closed-form solutions are obtained for displacement analyses, and the orientation workspace of the moving platform under an actuation failure, i.e., one of the active prismatic joints is locked, is particularly investigated through an equi-volumetric partition method. To analyze the orientation workspace distribution under the actuation failure, the fault-tolerant workspace and the maximum inscribed workspace are defined. Furthermore, a new fault-tolerant index is proposed to evaluate the fault tolerance of the parallel mechanism. The proposed design analysis is validated through experiments on an engineering prototype of the parallel mechanism.https://www.mdpi.com/2075-1702/10/2/88underwater vectored thrustersdesign analysis3-P<u>P</u>S parallel mechanismstiffness enhancementfault-tolerant workspace |
| spellingShingle | Dexin Jiang Tianjiang Zheng Guilin Yang Yingzhong Tian Zaojun Fang Huamin Li Chi Zhang Hongwu Ye Design and Analysis of a Stiffness-Enhanced 3-P<u>P</u>S Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters Machines underwater vectored thrusters design analysis 3-P<u>P</u>S parallel mechanism stiffness enhancement fault-tolerant workspace |
| title | Design and Analysis of a Stiffness-Enhanced 3-P<u>P</u>S Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters |
| title_full | Design and Analysis of a Stiffness-Enhanced 3-P<u>P</u>S Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters |
| title_fullStr | Design and Analysis of a Stiffness-Enhanced 3-P<u>P</u>S Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters |
| title_full_unstemmed | Design and Analysis of a Stiffness-Enhanced 3-P<u>P</u>S Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters |
| title_short | Design and Analysis of a Stiffness-Enhanced 3-P<u>P</u>S Parallel Mechanism for Fault-Tolerant Underwater Vectored Thrusters |
| title_sort | design and analysis of a stiffness enhanced 3 p u p u s parallel mechanism for fault tolerant underwater vectored thrusters |
| topic | underwater vectored thrusters design analysis 3-P<u>P</u>S parallel mechanism stiffness enhancement fault-tolerant workspace |
| url | https://www.mdpi.com/2075-1702/10/2/88 |
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