绳牵引刚柔式波浪补偿并联机构的设计与建模

陈原,郭登辉,田丽霞

Design and modeling of wire-driven rigid-flexible parallel mechanism for wave compensation

Yuan CHEN,Deng-hui GUO,Li-xia TIAN

图 15 补给船舶与补偿机构末端执行器的运动曲线

Fig.15 Motion curve of end effector of supply ship and compensation mechanism