为了提高水下机器人低速航行时的机动性，提出了将一种基于球面并联机构的矢量推进螺旋桨应用于水下机器人，建立了旋量形式的六自由度运动学模型。针对矢量推进的二维转动角分解了矢量推力，得到了三维方向上的比例因子，基于牛顿－欧拉法建立了矢量推进水下机器人的动力学模型。同时提出了以矢量推进的比例因子作为输入量，利用拉普拉斯变换建立纵向运动的复数域扰动模型，基于扰动模型提出了无量纲化的矢量推进稳定裕度指标。数值算例验证了水下机器人无鳍舵矢量推进方式的有效性与稳定性。%A single-mechanism vectored thrust approach without fin and rudder was proposed to improve the maneu-verability of an underwater vehicle running at low speed. A new vectored thruster based on spherical parallel mecha-nism was applied to an underwater vehicle, and a six degrees-of-freedom kinematic model in the form of spinor was established. With the two-dimensional rotation angle of the thrust vectoring as the target, the vector thrust was de-composed, and the three-dimensional scaling factor was derived. A dynamic model of the vectored thruster was es-tablished on the basis of Newton-Euler method. In addition, with the scaling factor of thrust vectoring as an input, Laplace transformation was employed to establish the disturbance model along the vertical direction in a complex do-main, and the dimensionless stability margin of vectored thrust based on the disturbance model was proposed. Nu-merical simulations were performed to verify the effectiveness and stability of the vectored thrust mode without fin and rudder.
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