人体上肢运动学动力学建模与仿真技术的研究  

The research of human upper limb dynamics modeling and simulation technologies

作　　者：袁清珂[1] 骆少明[1] 唐文艳[1] 罗小美[1] 

机构地区：[1]广东工业大学机电工程学院,广州510090

出　　处：《计算力学学报》2010年第2期321-324,共4页Chinese Journal of Computational Mechanics

基　　金：广东省科技计划项目(2008B010400011);广州市科技支撑计划项目(2008Z1-D371);广东省教育部产学研结合项目(2009B090300340)资助

摘　　要：根据多体动力学原理,以人体解剖学为基础,对人体上肢进行建模,推导了其动力学和运动学方程,建立了人体上肢四刚体四自由度动力学模型,运用多系统动力学软件ADAMS,结合UG建模功能,对人体上肢动力学和运动学特性进行了分析计算,对人体上肢收臂翻掌过程的运动进行了仿真,并将计算结果与实测数据进行了对比,验证了模型的正确性和有效性。In this paper, the human upper limb is taken as research object based on multi-body dynamics and human anatomy, its kinematics and dynamics function equations are derived, a dynamics model of 4 rigid bodies at 4 DOF is set up, and its dynamics and kinematics characteristics are calculated and analyzed with ADAMS and UG software, the flexion-pronation movement of the upper limb is simulated. The simulation results are compared with experimental data, and the correctness ＆ validity of developed model was inspected and verified.

关 键 词：人体上肢 动力学 建模方法 仿真技术 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]