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 6 万向节坐标系建立

Fig.6 Establishment of universal joint coordinate system