航天员上肢典型动作的动力学仿真与分析

Mechanical Simulation and Analysis of Typical Upper Limb Movements of Astronauts

针对航天员人机交互过程中的操作工效学问题,基于航天员上肢典型动作的力学问题进行仿真分析。考虑上肢的运动特点,利用反向运动学和动力学Kane法进行关节力矩模型和简化肌肉力模型的求算,并针对上肢7自由度冗余问题采用梯度投影算法进行处理。结果表明:搭建的7自由度冗余模型计算结果接近人体真实情况,为了实现开舱门动作的方便性以及考虑设计的冗余量,舱门宽度应尽量避免超过0.6 m;通过分析点按动作在不同的按钮高度条件下的仿真结果,得出按钮高度为0(按钮与肩同高)时,上肢各关节综合负担相对最优。

The study addressed the ergonomic issues in the human-machine interaction process for astronauts,focusing on the mechanical aspects of typical upper limb movements.Considering the characteristics of upper limb motion,the research employed inverse kinematics and the Kane method in dynamics to calculate joint torque models and simplified muscle force models.To address the redundancy problem of the upper limb's 7 degrees of freedom,a gradient projection algorithm was applied.The results indicated that the calculated results of the constructed 7-degree of freedom redundant model were close to the real human situation.For the convenience of hatch opening and considering the redundancy in design,the hatch width was recommended to avoid exceeding 0.6 meters.Through the analysis of simulated results of pressing actions under different button heights,it was concluded that a button height of 0(aligned with the shoulder) resulted in a relatively optimal overall joint burden for the upper limb.