奔跑仿生机构的运动学模型构建与分析  

Kinematic Construction and Analyses for a Running Bionic Mechanism

作　　者：宋孟军[1,2] 丁承君[2] 张明路[2] 

机构地区：[1]天津职业技术师范大学,天津300222 [2]河北工业大学,天津300130

出　　处：《中国机械工程》2015年第20期2788-2792,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51406135);天津市重大科技专项(工程)(12ZCDZGX45800);天津市科技支撑计划资助项目(13ZCZDGX01200);河北省自然科学基金资助项目(F2013202220);天津市应用基础与前沿技术研究计划资助项目(14JCYBJC22000)

摘　　要：对猎豹的奔跑机构的骨骼肌肉系统的运动学模型及运动学特性进行了研究。基于已有数据,对猎豹的前后肢建立了机构模型,对其奔跑的运动过程进行仿真,计算并描述其趾端运动轨迹;结合骨骼肌肉的位置参数与已构建的运动学模型,对猎豹的骨肌坐标系统进行建模,对肌肉肌群的长度变化进行计算;进行骨肌坐标系统的运动仿真,并利用肌肉力计算模型,求解了猎豹前后肢各关节的力矩变化。基于已有解剖学数据对哺乳动物的高速运动特性从仿生学角度进行了分析,为高速奔跑机构仿生机理的实现提供了切实的数据支持,对猎豹高速奔跑的运动学特性进行了充分研究。The construction method for kinematic model and the analyses for kinematic characterigtics of musculoskeletal system of cheetah was studied herein. Firstly,based on the anatomical data, the kinematic model of forelimb and hindlimb mechanism were constructed, and the running process was simulated^Secondly,based on the position of each muscle distributed on the cheetah and the con- structed kinematic model of each limb,the whole musculoskeletal system of the cheetah could be con- structed, and the length of each muscle also could be obtained based on the calculation between two at- tached points of the muscle lines ~ Finally , the simulation experiments for the whole model of the con- structed musculoskeletal system were done using the recorded joint angles, and the variable torques applied to each joint of forelimbs and hindlimbls were solved by using the muscular force calculation method. High speed motion characteristics of mammals were analyzed from the perspective of bionics based on the available anatomical data. Real data support was provided for the realization of bionic mechanism of high speed running mechanism. The kinematic characteristics of the high speed running of the cheetah were studied.

关 键 词：机构 运动学 猎豹 运动生物力学 运动学正解 

分 类 号：TH114[机械工程—机械设计及理论]