摘要
简要回顾了宇航员舱外活动计算机仿真现状,基于Kane方法给出了应用多刚体系统动力学求解人体运动的递推公式及步骤。针对STS-63飞行中的宇航员搬运大质量载荷任务,建立了简化的宇航员上肢运动模型,对上肢末端做矢状面内的匀速圆周运动过程进行了分析,得到关节运动及动力学参数随时间的变化关系,并与相关标准进行了比较。
The method of computer simulation on extravehicular activity was reviewed. Based on Kane method,the formula and process of human motion utilizing computational multi-body dynamics were proposed. For an actual large-mass-handling EVA performed on STS-63,a simplified dynamics model of an astronaut arm was proposed and the motion process of astronaut arm was solved when the hand following on a circle equably. The variations of the joints kinematics and kinetics parameters with time were obtained and compared with standard.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2008年第20期5646-5650,共5页
Journal of System Simulation
关键词
宇航员舱外活动
KANE方法
关节力矩
仿真
astronaut extravehicular activities, Kane method, joint torque, simulation
