高速奔跑仿生机构的运动学模型

Kinematic Construction for Musculoskeletal System of the Cheetah

通过建立猎豹的骨骼肌肉系统的运动学模型,对猎豹奔跑过程中主要骨骼的运动过程进行标定,建立了单腿骨骼的机构模型;并测定各关节转角的变化规律,结合肌肉在前后肢骨肌系统内的附着位置,力臂变化特点,构建较为完善的骨肌坐标系统;最后,利用转角变化规律,驱动所构建骨肌坐标系统进行运动仿真实验,验证了所构建骨肌系统模型的正确性,同时得出猎豹高速奔跑时相关的运动特性,为生物力性能的研究奠定理论基础。

A kinematic model of musculoskeletal system from the cheetah was constructed in this paper. Firstly,based on the anatomical data,the motion process for main bones were marked during the cheetah dashing; Secondly,mechanism model of single leg was constructed in the following section; And the angle changing during motion process of the cheetah was also recorded,united with the position of each muscle,and the arm of force of the muscle,the whole musculoskeletal system of the cheetah was constructed; Finally,the simulation experiment for the whole model of the constructed musculoskeletal system has been done using the recorded joint angle,and the validity of the kinematic model of the whole musculoskeletal system was confirmed in this section,and at the same time,the kinematic characteristic of the cheetah running with high speeds was also obtained,all the work done in this paper is useful for the study of animal＇s biomechanics.