Design and Anti-Impact Performance Study of a Parallel Vector Thruster

With the rapid development of unmanned surface vessels (USVs), a vector thruster was designed in this paper to meet their evolving operational demands. The anti-impact capability of the vector thruster, in which the universal joint plays a critical role in attenuating impact loads, directly governs the stability and security of power transmission in USVs. A mechanical model of the vector thruster with a universal joint was established, incorporating length and stiffness ratio coefficients to characterize its key dynamics. Based on this model, numerical simulation using the Newmark method was conducted to systematically evaluate the thruster’s mechanical characteristics, particularly the dynamic variation of the inclination angle, under various working conditions and impact loads. The results indicate that an increase in stiffness ratio amplifies the angular displacement amplitude of the driven shaft but shortens the vibration stabilization time. During the operation of the vector thruster, an increase in the inclination angle leads to greater vibration amplitude. Furthermore, systems with a higher, longer ratio exhibit a more pronounced tendency for amplitude growth as the inclination angle increases. Finally, the theoretical model was validated through a test bench, and the variation pattern of dynamic thrust under impact load was revealed. These results emphasize that the stiffness and dimensional parameters must be carefully considered in the design and control optimization of vector thrusters to ensure reliable performance under demanding operational conditions.