State Key Laboratoryof Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;
Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration,Shanghai Jiao Tong University,Shanghai 200240,China;
Wuhan Second Ship Design and Research Institute,Wuhan 430064,China;
China Ship Scienti¯c Research Center,Wuxi 214082,Jiangsu,China;
towed system; towed cable; cable-lead-in rod; kinematic constraint condition;