基于adams人体动力学的建模与仿真研究-机械设计及理论专业论文.docxVIP

』童三些奎兰三兰堡圭兰堡篁圣Abst 』童三些奎兰三兰堡圭兰堡篁圣 Abst ract Human body dynamics takes aim at the modeling methods of human body and the analysis of the“nematics and dynamics characteristics of the result model．Human body dynamics is one of the foundatioⅡsubjects of the research of apery mechanism aⅡd has been widely used in the areas such as aero and automobile．The research ofhuman body dynamics is of real significance in the design of mechatronic products and exercise heaIing mechanism． At first the structure／fhnction／movement of human skeleton．articulation and muscles are presented，then the human body model is simplified based on nlulti-body dynamics， atld the human dynamics model is built up in ADAMS．At 1ast the walking process is simulated and the dynamics parameters are recorded and comp甜ed with factual data． The research results of this paper are： 1． The thinking of specified—moVement—oriented human body modeling is broken through．The model built in this paper is fit for most free moVemeⅡt． 2．It is brought fonvard that regarding fore锄as a rigid body is reasonless．The thinking of dividing foreann into t、Vo rigid·bodies is ammed． 3．WaIking pace aⅡd balance corI打ol are inVolVed in the walking process．Walking pace a工1d support phase are analyzed and aniculation moVement parameters are designed by STEP mathematics fImctions，a11d f№zy rule contailler is coⅡstructed to adjust articulation a119le for body balance． 4．The dynamics simulation of walking process is compIeted successfully．The factual data of human walking is used for verifying the simulation data．At last the modeling thinking is proved to be accordant with anatomy atld multi-body dynamics． Key Words：ADAMS；Human body；Modeling；Simulation 第一章绪论第一章绪论 第一章绪论 第一章绪论 1．1国内外研究现状 人体运动分析是近年来计算机视觉领域中备受关注的前沿方向之一，是当 代生物力学和计算机视觉相结合的一项重要技术，具有十分广阔和重要的应用领 域，它在机器人学、仿生机械学、智能控制、人机交互、运动分析和虚拟现实等 领域都有着广泛的应用 。 尽管在过去的十多年时间内，人们对人体动力学模型的问题作了不少有益 的工作。许多学者针对不同的运动或动作建立了相应的多刚体模型，其中最简单 的可用单质点模拟人体运动。著名的Hanavan模型将人体划分成15个刚体 段，各段之间用球铰连接。还有一些复杂模型则用l 7段刚体模