基于气动肌肉仿人下肢动力学

Dynamic analysis of humanoid lower limb based on PAM

为了更好地了解肌肉在人下肢运动过程中的作用,分析人体下肢骨、骨骼肌的组成和功能,提出以气动肌肉作为驱动元件的柔性并联机构仿人下肢,并且踝关节绕垂直轴的旋转运动移动到膝关节.通过单刚体形式的气动肌肉、虚功原理、结构矩阵相结合推导包含肌肉的仿人下肢髋关节动力学方程,同时仿真分析各肌肉的运动学特性.结果表明,在下肢单腿运动周期的承重期、支撑相和摆动相内,股直肌、薄股肌、小腿三头肌、外侧群肌运动特性相近,大腿后侧肌群、股二头肌、前群肌的运动特性相反,臀大肌、内收肌基本不运动.

The makeup and role of human lower limb bones and skeletal muscles were analyzed in order to better understand the role of lower limb muscle in human movement. Flexible parallel mechanism human- oid lower limb was proposed and pneumatic artificial muscle （PAM） was taken as driver. The rotatory morement that ankle joint rotating around vertical axis was transferred to the knee joint. Dynamic equation of hip joint was calculated through combining virtual work, Jacobian matrix and PAM which is single rigid block with each other. Kinematics characteristics of muscles were analyzed through simulation. Results shows that in the bearing period, supporting phase and swing phase of lower limb movement cycle, rectus femoris, gracilis, musculi triceps surae and lateral group muscle with similar kinetic characteristics. Ham string, biceps flexor cruris and anterior group muscle work in contrary way. Gluteus maximus and adductor almost keep static.