Human modeling and simulation based on Lagrangian method in weightlessness
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摘要: 阐述了利用多刚体系统动力学进行航天员舱外活动仿真EVA(Extra Vehicular Activity)的必要性.给出了应用计算多刚体系统动力学建立的通用失重人体4关节反向运动学与反向动力学模型.选取典型的实例,在对其进行适当简化的基础上,运用通用模型对其进行仿真计算,计算时为考虑失重对人体质量、惯量与力量等参数的影响,对通用模型进行了修正.利用能量比较法对结果进行分析,得出当手部的运动轨迹半径与角速度减小、时间延长,髋关节做前驱运动时航天员工作最为节省能量.通过能量比较法计算得到了人体运动时各关节作功最为节省能量的范围.计算方法对航天员舱内外活动仿真及工效分析有一定的参考价值.
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关键词:
- 失重 /
- 反向运动学模型 /
- 反向动力学模型 /
- Lagrange方法
Abstract: The necessity of computational multi-body dynamics simulating the astronaut extra vehicular activity (EVA) was described. The 4 joints universal human body inverse kinematics model and inverse dynamics model in weightlessness utilizing computational multi-body dynamics were proposed. A typical EVA, an actual large-mass-handling EVA performed on STS-63, was chosen as the instance to simulate. Based on some simplifications, a typical EVA was simulated and calculated using universal human model. Considering the influence of weightlessness on human modeling, the universal model should be amended. The results were analyzed according to energy comparison method. The results showed when hand movement contrail radius and angle velocity minishing, movement time prolonging and hip joint flexion moving, accomplishing task retrenched energy. Human body joint movement comfortable scope could be achieved by energy comparison method. The calculational methods provided the reference value for the astronaut intra and extra vehicular activity simulation and ergonomic analysis.-
Key words:
- weightlessness /
- inverse kinematics model /
- inverse dynamics model /
- Lagrangian method
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