Abstract: To study motion relationship between the surface boat and the wave-propelled sub in wave glider system, the cable connecting these two parts is divided into several micro segments for analysis. The motion relationship can be obtained by solving dynamic equilibrium equations of all segments. According to the numerical results, the horizontal velocity of wave glider varies continuously and steadily, and the horizontal velocity range of the surface boat is larger than that of the wave-propelled sub. Because of the flexibility of the cable, wave glider horizontal velocity is easy to adjust as the wave changes. Moreover, the short cable is in favor of motion transmission.

Key words: wave gliders, cable dynamic analysis, motion transmission, flexible cables