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 16 横摇时绳索拉力的变化

Fig.16 Change curve of rope tension during swing in X direction