导　　师： 袁清珂

学科专业： H0203

授予学位： 硕士

作　　者： ;

机构地区： 广东工业大学

摘　　要： 以人体为对象研究其建模方法、对其进行运动学和动力学分析的人体动力学，是仿人机构研究的基础理论学科之一，已在航空、汽车等领域得到了广泛应用。人体动力学研究对指导机电产品设计、运动康复器械设计等具有重要意义。 在论文中，作者首先从人体解剖学的基础理论出发，详细深入的分析了人体骨骼、关节以及肌的结构、功能和运动规律。然后结合机械多体动力学原理，对人体的各个部分进行了适当的、合理的简化，运用机械动力学仿真软件adams建立了人体动力学模型。最后，论文主要针对动力学的逆问题，在adams软件环境中，对人体行走的一个周期过程进行了仿真计算，测出了在行走中人体肩关节、髋关节、膝关节和踝关节的扭矩，并把仿真数据与实际测量数据进行了对比分析。 本论文的主要研究成果如下：1.突破了以前研究者针对某种特定运动对人体进行建模的思想，本文所建立的模型适用于绝大多数的非指定性的运动。 2.提出了把人体前臂看成一块刚体研究的不合理性，确定把前臂分成两块刚体研究的思想。 3.在人体行走过程中，涉及到人体行走步态和人体平衡的控制，论文对人体行走步态和支撑相位进行了分析，运用step数学函数设计了确定行走轨迹的人体关节运动参数，并结合模糊控制理论研究了调节人体关节角度保持身体平衡的模糊规则器。 4.针对动力学逆问题，成功地对人体行走进行动力仿真，并用实际人体行走测量的数据来验证仿真计算的数据，最终确认了整个建模思路的正确性，符合解剖学和机械多体动力学理论。 Human body dynamics takes aim at the modeling methods of human body and the analysis of the kinematics and dynamics characteristics of the result model. Human body dynamics is one of the foundation subjects of the research of apery mechanism and has been widely used in the areas such as aero and automobile. The research of human body dynamics is of real significance in the design of mechatronic products and exercise healing mechanism.At first the structure//function//movement of human skeleton, articulation and muscles are presented, then the human body model is simplified based on multi-body dynamics, and the human dynamics model is built up in ADAMS. At last the walking process is simulated and the dynamics parameters are recorded and compared with factual data.The research results of this paper are:1. The thinking of specified-movement-oriented human body modeling is broken through. The model built in this paper is fit for most free movement.2. It is brought forward that regarding forearm as a rigid body is reasonless. The thinking of dividing forearm into two rigid-bodies is affirmed.3. Walking pace and balance control are involved in the walking process. Walking pace and support phase are analyzed and articulation movement parameters are designed by STEP mathematics functions, and fuzzy rule container is constructed to adjust articulation angle for body balance.4.The dynamics simulation of walking process is completed successfully. The factual data of human walking is used for verifying the simulation data. At last the modeling thinking is proved to be accordant with anatomy and multi-body dynamics.

关 键 词： 软件 人体动力学 计算机仿真 人体行走 仿人机构

分 类 号： [TH122.4 TP391.9]

领　　域： [机械工程] [自动化与计算机技术] [自动化与计算机技术]