A vector thruster in the form of PPUS-PRS-S parallel mechanism is proposed.The vector thruster is de-signed so that it can be easily installed as a single unit in the AUV tail.The kinematics and dynamics models of vector thruster are established.The numerical calculation and simulation results show that the designed vector thruster has good mo-tion performance and can smoothly complete the pitch and yaw motion.Through the analysis of the thrust vector,it can be seen that the vector thruster can always provide no less than 75％thrust in the forward direction of AUV,and the maximum 50％thrust in the deflection direction,and the thrust magnitude is independent of the attitude and speed of AUV.Compared with the traditional AUV with fin rudder as the control surface,the vector propulsion AUV has better maneuverability under slow sailing conditions
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