人体跳跃机理运动学动力学分析

Kinematics and Dynamics Analysis of Human Jumping Mechanism

在分析人体下肢生理结构与跳跃运动特征的基础上,将人体下肢的跳跃模型简化为一个平面多刚体运动系统;对简化模型运用正运动学分析方法,建立了在跳跃过程中的下蹲相和起跳相时下肢各构件关节点、质心与总质心的位置、速度和加速度模型;在运动学分析的基础上通过采用Lagrange方法进行动力学分析,得到了跳跃过程中力与位置关系的动力学方程。为各种仿人跳跃机构设计提供理论基础。最后,用Workbench对在不同相时的脚部构件进行了静力学分析,得到不同相时脚掌的变形和应力分布。

Based on the analysis of physiological structure and jumping movement characteristics of human lower limb,the jumping model of the lower limb is simplified as a plane multi-rigid body motion system. According to the forward kinetics analysis,the position,velocity and acceleration models of joints,centroids of each component are established. On the basis of the kinematics analysis,the dynamics analysis is carried out by using the Lagrange method,the dynamics equations of the relation between force and position in the jumping phase are obtained,the theoretical foundation for the design of various humanoid jumping mechanisms is provided. Finally,by using workbench,the statics analysis of the foot components in different phases is carried out,and the deformation and stress distribution of the sole are obtained.