自行车骑行状态的运动学与动力学研究

Study on Kinematics and Dynamics of Riding State

针对骑行状态的研究可分为下肢运动学和动力学两部分。骑行运动是一项整体协调性运动,需要依靠人体下肢运动才可达到稳定的骑行速度。通过建立人-车连杆模型,运用矢量方程解析法完成运动学方程推导,并对各个关节角度进行求解;运用牛顿-欧拉法完成下肢关节的动力学方程推导,并对下肢各关节力矩进行求解,对所建模型在ADAMS环境下进行仿真验证。

The research on riding state can be divided into kinematics and dynamics of lower limbs.Riding is an overall coordinated exercise,which needs to rely on the lower limb movement to achieve a stable riding speed.Through the establishment of a man-vehicle linkage model,the vector equation analysis method is used to complete the derivation of the kinematics equation,and the angles of each joint are solved.Newton-Euler method was used to deduce the dynamic equation of lower limb joints,and the torque of each joint of lower limbs was solved.The model was simulated and verified in ADAMS environment.