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 7 α、β按照预定轨迹随时间变化时绳子速度与时间的关系

Fig.7 Change in rope velocity when angle α and angle β change with time according to predetermined trajectory