Parallel wave compensation systems, which are essentially cable-suspended parallel mechanisms with dynamic base platforms, have potential applications in offshore cargo handling. This article investigates the anti-pendulation properties of parallel wave compensation systems. For a kinematically determined cable-suspended parallel mechanism, anti-pendulation is equivalent to keeping all the cables taut. Based on this consideration, the concept of anti-pendulation workspace is proposed to evaluate the anti-pendulation capability of a cable-suspended parallel mechanism. Since the anti-pendulation workspace depends on the initial interactive tensions, a method is given to calculate the optimal interactive tensions that guarantee the best anti-pendulation capability. Then, a boundary search method of workspace determination is presented, which can improve the computational efficiency comparing to the conventional discretization method. Parametric analysis shows that enlarging the geometric dimensions is useful to improve the anti-pendulation capability, which is validated by experiments of scaled cable-suspended parallel mechanisms.
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