人体上肢运物操作特征的分析

Analysis of Picking and Placing Motion by Human Upper Limb in a Horizontal Plane

人体上肢的各种操作动作自然而有效。研究了上肢运物操作动作过程,对其运动特征进行了分析。首先通过视频方法记录和分析上肢运物操作的轨迹曲线及运动状况,结合人体上肢两自由度动力学模型,得到人体上肢运物操作动作的特性:上肢运动的速度和加速度曲线变化平缓且连续,运动规律与高速凸轮机构常用的修正正弦运动规律相似,具有较好的动态性能;其曲线具有明显的非对称特点,这与凸轮机构非对称运动规律的设计思想相同;运物操作过程中会出现超过预定目标的过冲现象,这是快速操作中的惯性所引起的。分析人体上肢运物动作的这些特征对于了解仿生运动的特点,指导机器人运动规划、凸轮轮廓曲线设计有一定意义。

Human can implement the natural and effective operation of picking and placing motion by upper limb or arm.Picking and placing motion is studied and some characteristics of this kind of motion is analyzed. The motion condition and trajectory is obtained according to the image sequence analysis. With model of human upper limb its characteristics are analyzed：the motion of the velocity and acceleration motion curves are smooth and continuous,which is similar with the modified sine motion rules of high-speed cam mechanism;some of the motion curves are obviously asymmetric,which is the same with the design idea of asymmetric motion rules of cam mechanism;sometimes,overshoot can occur in the fast picking and placing process for its high inertia. The work is helpful for understanding the characteristics of biomimetic motion,design of motion planning of robotics and cam rules.