基于新型双足模型的步行荷载分析及其参数研究  

Walking loads analysis based on a new bipedal model and its parameters' effect

作　　者：王益鹤[1] 杨娜[1] 

机构地区：[1]北京交通大学土木建筑工程学院,北京100044

出　　处：《振动与冲击》2015年第13期152-157,181,共7页Journal of Vibration and Shock

基　　金：国家自然科学基金资助项目(51422801;50938008);新世纪优秀人才奖励计划(NCET-11-0571);中央高校基本科研业务费专项资金资助(2012JBM007;2012YJS078)

摘　　要：双足模型可模拟人的周期步行问题。基于ISO 5982模型与双足模型,建立了新型双足步行模型。采用Lagrange方程描述步行过程中的运动方程,确定了系统的质量矩阵、刚度矩阵、阻尼矩阵和荷载向量。研究了人体步行的力学特性及能量变化过程,分析了腿刚度、冲击角和步行速度等参数对地面反力的影响。结果表明:新型双足模型能够模拟包括双足和单足支撑阶段完整连续的步行过程;连续平稳步行中的总能量恒定,各能量随步行过程在重力势能、弹性势能和动能之间转化;腿刚度、冲击角和步行速度对步行特性有较大影响,但腿刚度对步行周期和步长的影响较小。It was previously shown that a bipedal model can be employed to simulate human periodic walking. Based on the model in ISO 5982 and a bipedal model,a new bipedal model was introduced.The dynamic equations of human walking were established by means of Lagrange equations.The mass,damping,stiffness matrices,and the force vector of the human walking system were defined from these equations.Walking characteristics and energy change were studied.The effects of leg stiffness,impact angle and walking speed on the reaction force of ground were analyzed.The results showed that the new bipedal model can be used to simulate human periodic walking cycles consisting of single and double support phases;the total energy of the model is constant,it includes gravitational potential energy,kinetic energy and elastic potential energy,they convertes each other in walking process;variations of leg stiffness,impact angle and walking speed have a greater effect on walking characteristics,but leg stiffness has a smaller effect on walking period and walking step length.

关 键 词：生物力学 双足模型 步行荷载 动力方程 数值模拟 

分 类 号：TU311.3[建筑科学—结构工程]