德国牧羊犬的关节角及其地反力  

Joint angles and ground reaction forces of German Shepherd dog

作　　者：田为军[1] 丛茜[1] 金敬福[1] 

机构地区：[1]吉林大学生物与农业工程学院,地面机械仿生技术教育部重点实验室,长春130022

出　　处：《吉林大学学报（工学版）》2009年第S1期227-231,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(50635030);吉林大学"985工程"项目

摘　　要：利用VICON MX三维动作捕捉系统测定了德国牧羊犬水平面小跑和行走时前后肢关节角度的变化,并结合KISTLER测力台对德国牧羊犬地反力进行了测定。实验结果表明:在水平面上,随着速度增大,前后肢关节角变化范围增大,前肢肩关节角及肘关节角变化范围分别由28.6°和57.3°增大到31.5°和65.2°,腕关节角变化范围则由128.2°减小到112.5°;后肢各关节角变化范围均有所增加。由地反力测定可知,犬前肢制动时间占整个前肢触地时间的(55.8±3.4)%,前肢推进时间占整个前肢触地时间的(44.2±3.4)%,后肢制动时间占整个后肢触地时间的(32.4±3.3)%,后肢推进时间占整个后肢触地时间的(67.6±3.3)%。本文还从运动学和动力学角度对德国牧羊犬关节角度及地反力变化机理进行了分析。VICON MX 3D motion capture system was used to measure the joint angles change of the forelimb and hind limb during the trot and walk of the German Shepherd dog,and the KISTLER force plate was utilized to obtain the ground reaction forces of the dog in real time.The results indicate that with the rate of the German Shepherd dog increases,the joint angles change of the forelimb and hind limb have the wider range.The change range of the shoulder angle of the shoulder angle and elbow joint angle of forelimb increase respectively form 28.6°and 57.3°to 31.5°and 65.2°while the change range of wrist angle deceases from 128.2°to 112.5°;the change range of every angle of hind limb increases.The ground forces indicated that in the forelimb,(55.8±3.4)% of total contact time was spent in braking,whereas(44.2±3.4)% was spent in propulsion;in the hind limbs,(32.4±3.3)%of total contact time was spent in braking, whereas(67.6±3.3)% was spent in propulsion.The change of the joint angles and the ground forces of the German Shepherd dog have been analyzed from kinematics and dynamics.

关 键 词：工程仿生学 德国牧羊犬 步态分析 地反作用力 关节角 

分 类 号：S829.2[农业科学—畜牧学]