人体骨盆位姿模拟机构的运动学分析及仿真  

Kinematics analysis and simulation of positional posture simulative mechanism of human body pelvis

作　　者：刘攀[1] 张立勋[1] 万晓正 张今瑜 

机构地区：[1]哈尔滨工程大学机电工程学院,黑龙江哈尔滨150001

出　　处：《机械设计》2009年第9期37-39,共3页Journal of Machine Design

基　　金：国家自然科学基金资助项目(60575053);博士点基金资助项目(20060217024)

摘　　要：根据人体骨盆的运动规律,设计了一种4自由度人体骨盆位姿模拟机构。建立了人体骨盆位姿模拟机构的正运动学模型和逆运动学模型,并推导出了机构的雅可比矩阵。基于机构的运动学模型建立了仿真模型,并采用MATLAB/Simulink对人体骨盆位姿模拟机构进行了仿真分析。仿真结果表明:该机构方案是可行的,能够模拟人体骨盆的运动规律。同时仿真结果也验证了运动学模型的正确性。According to the motion law of human body pelvis, a kind of 4DOF positional posture simulative mechanism of human body pelvis was designed. Models of forward kinematics and inverse kinematics of positional posture simulative mechanism of human body pelvis were established and the Jacobian matrix of the mechanism was derived. The simulation model was build up on the basis of kinematics model of the mechanism, and a simulative analysis was carried out on the positional posture simulative mechanism of human body pelvis by the use of MATALAB/Simulink software. The result of simulation showed that this scheme of mechanism was feasible and capable to simulate the motion law of human body pelvis and the correctness of the kinematics model was verified at the same time.

关 键 词：骨盆位姿 模拟机构 运动学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]