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 9 动平台绕X轴旋转时系统刚度的变化

Fig.9 Change in system stiffness when dynamic platform rotates around X axis