基于Kane方法的宇航员舱外活动仿真

Simulation of Astronaut Extravehicular Activity Based on Kane Method

简要回顾了宇航员舱外活动计算机仿真现状,基于Kane方法给出了应用多刚体系统动力学求解人体运动的递推公式及步骤。针对STS-63飞行中的宇航员搬运大质量载荷任务,建立了简化的宇航员上肢运动模型,对上肢末端做矢状面内的匀速圆周运动过程进行了分析,得到关节运动及动力学参数随时间的变化关系,并与相关标准进行了比较。

The method of computer simulation on extravehicular activity was reviewed. Based on Kane method,the formula and process of human motion utilizing computational multi-body dynamics were proposed. For an actual large-mass-handling EVA performed on STS-63,a simplified dynamics model of an astronaut arm was proposed and the motion process of astronaut arm was solved when the hand following on a circle equably. The variations of the joints kinematics and kinetics parameters with time were obtained and compared with standard.