System and process of vector propulsion with independent control of three translation and three rotation axis

A propulsion process for a propulsion system of a vehicle, the system able to move the vehicle along three independent translation axes and around three independent rotation axes, wherein the propulsion system is connected to the vehicle and the vehicle is able to move inside a fluid or vacuum with three independent translation axes movements and three independent rotation axes movements, the system 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 said vehicle by the means for joining, wherein the at least one auxiliary thruster and the tilting mechanisms of the said 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 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, the process comprising:

• translational movements over the horizontal plan are achieved by tilting all the main thrusters, around their tilt axes, which are perpendicular to the intended translational movement, and also by changing the global thrust of the thrusters in such a way as to maintain vehicle altitude;
• translational movement along a vertical axis is accomplished by having all the main thrusters in a vertical tilt position, by increasing the thrust of all the thrusters so that their combined thrust is greater than a weight of the vehicle for it to ascend, and by reducing the thrust to less than the vehicle weight for the vehicle to descend;
• rotation around the vertical axis is accomplished by tilting the main thrusters around the same axis connecting the tilting mechanisms, at an equal angle in modulus but with opposite signal of a main thruster in relation to its opposed main thruster, and also by changing the thrusters overall thrust to maintain altitude;
• rotation around the axis defined by the means for attaching of the tilting mechanisms of two main thrusters is accomplished by varying the thrust in the auxiliary thruster(s), the main thrusters tilting in the opposite sense to that of the rotation of the vehicle and also by changing the thrust of the thrusters in order to maintain altitude;
• rotation around an axis orthogonal to the previous axis and the vertical axis is accomplished by a different thrust in the main thrusters and by tilting the same in the sense opposite to vehicle rotation and also by changing the thrust of the thrusters in order to maintain altitude;
• and
• wherein, when using propellers as thrusters, these being placed opposed to each other, the propellers turning in opposite directions in order to compensate torque over the vehicle.