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 5 无穷小位移下绳子变化向量和单位向量

Fig.5 Rope variation vector and unit vector under small displacement