Use of tilting propulsion thruster in AUUV
The article presents one of possible configurations of autonomous unmanned underwater vehicle (AUUV) with one tilting propulsion thruster. Arrangement of spherical parallel mechanism and its modified architecture is demonstrated. Simplified principle of operation of the device is examined through the use of kinematics of parallel mechanisms. Structure of generalized model is provided for spherical arrangement of space orientation of thruster and despinning attachment axis.