四刚体人体行走模型及其人行荷载分析

Four rigid-body model for human walking and its walking load analysis

为模拟人体行走过程中的力学行为,运用多刚体模型对人体进行简化建模,建立了四刚体‑四自由度的人体动力学模型。运用欧拉‑拉格朗日方程的方法推导了动力系统摆动阶段动力学方程。为了使四刚体模型的行走具有拟人性,使用贝塞尔曲线对驱动自由度的运动轨迹进行了规划,从而将多自由度的运动方程简化为求解单自由度常微分方程的边界值问题。将数值模拟结果与试验和荷载模型进行对比,验证了所建立模型的可行性。

In order to simulate the mechanical behavior of the human body during walking,the multiple-rigid-body model was used to simplify the human bipedal walking behavior,and a four-rigid body,four-degrees-of-freedom human body dynamic model was established.The dynamic equation of motion during the swing phase of the dynamic system was derived using Euler-Lagrange equation.In order to mimic the real human locomotion behavior,the Bézier curve was used to plan the trajectory of the driving degree-of-freedom,and the multiple degrees-of-freedom equations of motion was simplified into a single degree-of-freedom system which was solved as a boundary value problem.The numerical simulation results were compared with the actual test and the load model,reasonable feasibility was verified.