人体足部步态模拟机构的设计研究  

Design of a Mechanism of Human Foot Gait

作　　者：彭于华[1] 吴洪涛[1] 

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《机械科学与技术》2011年第4期552-555,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：国防科工委"十一五"某预研基金资助项目;国家自然科学基金项目(50375071)资助

摘　　要：从运动学的角度设计了一种新型步态模拟机构。先以正常人体步态作为依据,利用AD-AMS对该机构尺寸进行了优化设计,在优化过程中,利用复数矢量法确定约束函数,以耦点轨迹和实际步态踝关节轴的轨迹误差最小作为优化目标。最后将优化结果和实际人体踝关节运动曲线进行对比,验证了该机构的可行性。We designed a new mechanism of human foot gait from the viewpoint of kinematics.First,we take the normal human gait as the design basis,then make use of ADAMS to optimize the design.In the optimization process,we use the complex vector method to determine the constraint functions and take the minimum error of the trajectory of actual gait ankle axis and the trajectory of the decoupling point as the objective.Finally,the optimization results and the actual trajectory of the human ankle axis were compared to verify the feasibility of the design.

关 键 词：机构 耦点 步态 优化设计 

分 类 号：TH112[机械工程—机械设计及理论]