Patent ID: 8128033

Claim:
A propulsion system connected to a vehicle, said vehicle able to move inside a fluid or vacuum with three independent translation axis movements and three independent rotation axis movements, comprising at least two main thrusters, connected to the vehicle by means for attaching comprising tilting mechanisms and means for joining, said tilting mechanisms tilting the main thrusters around two axes, pitch and roll, independently from each other, wherein a geometric center of an arrangement of said tilting mechanisms is located at or in close vicinity of a mass center of the vehicle, and in that the system comprises at least one auxiliary thruster connected to the vehicle by the means for joining, wherein the at least one auxiliary thruster and the tilting mechanisms of the main thrusters define a geometrical figure shaped, approximately, as an equilateral triangle or as a diamond, said triangle or diamond lying on a horizontal plan, defined by longitudinal (roll) and lateral (pitch) axes of the vehicle, the at least one auxiliary thruster and the tilting mechanisms of the said main thrusters being disposed at apexes of said geometrical figure in such a way that the geometrical center of said figure is disposed on a longitudinal axis of the vehicle, wherein the at least one auxiliary thruster is fixed with thrust perpendicular or nearly perpendicular to the roll and pitch axes of the vehicle, the vehicle also being provided with means for controlling configured to control the thrusters and their corresponding tilting mechanisms.