嵌套Z轴式水下矢量推进系统建模与特性分析
张雷,徐海军,邹腾安,徐小军,常雨康

Modeling and property analysis of underwater vector propulsion system based on nested Z-shafts
Lei ZHANG,Hai-jun XU,Teng-an ZOU,Xiao-jun XU,Yu-kang CHANG
图 15 Z轴万向节内部作用力随时间的变化曲线
Fig.15 Curves of force and torque applied on universal joint installed on inter Z-shaft with resepct to time