According to the requirements

a multiplex space connecting rod drive mechanism is designed

and the 3D mode is constructed based on the UG.A symmetric eccentric agencies cleverly in the design is used to achieve a composite transmission of the straight moving and differential drive motor function

their relations is analyzed and discussed

the drive structure have many advantages such as

small size

light weight and big torque.It can be used in control system of underwater high-speed cavitation navigation body.It will play a great project value roll in the various navigation body attitude control system.