髋关节仿生机构的运动和动力模拟

KINEMATIC AND DYNAMIC ANALOGUES OF THE HIP JOINT BIONIC MECHANISM

本文通过对髋关节仿生机构传动系统和仿生原理的介绍、运动学和动力学的分析,建立了相应的力学模型和数学模型.借助于计算机仿真,实现了对人体髋关节较为完全和精确的运动模拟以及较理想的动力模拟,得到了一些对结构选型有指导意义的结论。

Based on the introduction of the transmission system and bionic principle of the hip joint bionic mechanism,and on the kinematics and dynamics analyses,the relevant me- chanical and mathematical models are established.With the help of computer emulation, the quite complete and accurate kinematic analogue and ideal dynamic analogue to human hip joints are realized,Moreover,some useful conclusions for structure selection are drawn.