摘要
为解决大型游乐设施传统检测方法可靠性低,进口假人与测试场景不匹配的问题,基于我国人体特征设计了多姿态假人下肢模型,以准确评估危险运行区间。对不同驱动模型进行运动学和动力学分析,基于Lagrange方程和动态静力分析法建立了驱动力矩与腿部转动角度之间的关系,确定了下肢仿人1:1模型的低力矩驱动方案;利用传感器获取角度数据,分析了人体姿态调整规律,从而确定了下肢模型的运动参数,进一步通过微控制单元实时获取和调整模型姿态数据,实现了假人站姿和坐姿的转变。实验结果表明:间接驱动机构的驱动力矩约为直接驱动力矩的1/4,实现了低力矩电机驱动大力矩下肢模型;间接驱动模型主动构件运动非线性,通过轨迹规划结合PID控制实现了姿态调整过程的非线性驱动和平滑启停。
In order to solve the problems of low reliability of traditional testing methods and mismatch between imported dummy and test scene for large amusement facilities,multi-posture dummy lower limbs model is designed based on Chinese human body characteristics,to accurately evaluate the dangerous operation range.The kinematics and dynamics of driving models are analyzed.The relationship between torque and rotation Angle is established based on Lagrange’s equations and dynamic static analysis.The lower torque driving scheme of lower limbs high torque model is determined.The Angle data obtained by the sensor is analyzed,and the motion parameters of the lower limbs are determined.Furthermore,the posture data of the model are real-time acquired and adjusted by the Microcomputer,and the changes of the dummy’s standing posture and sitting posture are realized.The experimental results show that the torque of the indirect driving mechanism is about 1/4 of that of the direct driving mechanism,and the lower limbs model driven by low torque motor with high torque is realized.The motion of the active component of the indirect driving model is nonlinear,and the nonlinear drive and smooth start and stop of the posture adjustment process is realized by trajectory planning combined with PID control.
作者
李永辉
卢文秀
LI Yonghui;LU Wenxiu(Department of Mechanical Engineering,Tsinghua University,Beijing 100084;Beijing Institute of Astronautical Systems Engineering,Beijing 100076)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2024年第1期352-360,共9页
Journal of Mechanical Engineering
关键词
假人
下肢模型
力矩
动态静力分析
仿生机构
轨迹规划
dummy
lower limbs
torque
dynamic static analysis
bionic mechanism
trajectory planning
