中国机械工程Issue(20)：2788-2792,5.DOI:10.3969/j.issn.1004-132X.2015.20.016
奔跑仿生机构的运动学模型构建与分析
Kinematic Construction and Analyses for a Running Bionic Mechanism
摘要
Abstract
The construction method for kinematic model and the analyses for kinematic character-istics of musculoskeletal system of cheetah was studied herein.Firstly,based on the anatomical data, the kinematic model of forelimb and hindlimb mechanism were constructed,and the running process was simulated;Secondly,based on the position of each muscle distributed on the cheetah and the con-structed kinematic model of each limb,the whole musculoskeletal system of the cheetah could be con-structed,and the length of each muscle also could be obtained based on the calculation between two at-tached points of the muscle lines;Finally,the simulation experiments for the whole model of the con-structed musculoskeletal system were done using the recorded joint angles,and the variable torques applied to each joint of forelimbs and hindlimbls were solved by using the muscular force calculation method.High speed motion characteristics of mammals were analyzed from the perspective of bionics based on the available anatomical data.Real data support was provided for the realization of bionic mechanism of high speed running mechanism.The kinematic characteristics of the high speed running of the cheetah were studied.关键词
机构/运动学/猎豹/运动生物力学/运动学正解Key words
mechanism/kinematics/cheetah/biomechanics of sports/forward kinematics分类
机械制造引用本文复制引用
宋孟军,丁承君,张明路..奔跑仿生机构的运动学模型构建与分析[J].中国机械工程,2015,(20):2788-2792,5.基金项目
国家自然科学基金资助项目(51406135) （51406135）
天津市重大科技专项(工程)(12ZCDZGX45800) （工程）
天津市科技支撑计划资助项目(13ZCZDGX01200) （13ZCZDGX01200）
河北省自然科学基金资助项目(F2013202220) （F2013202220）
天津市应用基础与前沿技术研究计划资助项目(14JCYBJC22000) （14JCYBJC22000）
