【作者】 周鹏；

【导师】 丛茜；

【作者基本信息】 吉林大学 ， 农业机械化工程， 2007， 硕士

【摘要】 本论文研究工作为建立理想仿德国牧羊犬运动模型,并验证模型可行性。首先研究德国牧羊犬生理结构及步态方式,分析影响德国牧羊犬步态运动的各种因素。使用VICON MX三维动态捕捉系统捕捉德国牧羊犬步态运动数据。在此基础上建立仿德国牧羊犬模型,本文主要将模型等效为多刚体杆件组合体,并结合多刚体动力学以及机器人运动学和动力学进行德国牧羊犬步态运动学分析和步态稳定性分析。在ADAMS提供的虚拟环境中建立仿真模型,将虚拟环境下的步态数据与试验获得数据进行比较,验证模型的可行性。更多还原

【Abstract】 In this paper, we used German Shepherd Dog for bionic object, and studied the gait style. Recently, gait research of animal was quite abroad in domestic and abroad, refered to recovery medical treatment, such as researching for the factor of muscle pull when horse in race gait, researching for the joint and ligament hurt of courser who lack of former cross ligament in slow gait, and researching for sufferer of nerve disease; refered to robotics, such as researching for gait stability of bip-robot, using anthropoid for bionic object, and designed the anthropoid robot et. It is very important that research for gait theory. There are many kinds of gait: according to footmark, there are stepped、run and jump; kinematics and dynamics of gait analysis: using the method of kinematics and dynamics of multiple rigid body and robotics; gait stability: scholar in domestic or abroad advanced many method to deal the gait stability of robot; such as Stability Admitiment Line(SAL)、Static State Stability Area(SSA) and trichotomy which using rising position to weaken retroflexion moment(a pair leg on the cross in sustentation time, the barycenter transfer 1/3 distance between two legs) et. Furthermore, there are research for animal gait in complex terrain and balance theory of ambulation.The action of German Shepherd Dog is quite celerity, it can run fast up and down on the hill and last a long time but feel easy. So the studying of gait style of them and applying for gait movement of bio-robot are speaking volumes. There is great difference between German Shepherd Dog and other canine, it has specifically standard of its forelimb、backlimb、head、cervix、trunk and stern. In this paper, we analysis the gait in jog、trot and run, in different gait style, the order of underway are disaffinity. There are plenty of factor that may affect the gait locomotion of German Shepherd Dog, the most important are barycenter positon and posture of rising.In order to obtain the kinematics data of gait of German Shepherd Dog,we use VICON MX 3D motion capture system to capture the kinematics datas of German shepherd dog in jog. Based on the body structure and kinematics datas, we designed the rigid model like the German Shepherd Dog, and found the space coordinate that single leg touchdown and empty out. In the paper, we analysised the stability of the rigid model by the method that Static State Stability Area(SSA) theory.We used the method that kinematics and dynamics of robotics to analysis the single leg between the phases that touchdown and empty out. Firstly, we founded the kinematics equation of single leg, then analysised the single leg positively and contradictorily apartly. At last, we educed the equation of positive and contradictory kinematics result. These equations also are the same with other limbs for kinematics analysis.We used imitation software ADAMS to imitate the rigid model in kinematics. In dummy environment that ADAMS provided, founded the imitation rigid model, and then bring to bear restrict and load for model, and gave them displacement and angle displacement. Finally, we got the curve of position of every joint, and compared the curve to the one that obtained from experiment, it is conformly. Therefore we believed that the model was correct and feasible.更多还原