基于新型双足模型的步行荷载分析及其参数研究

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振动与冲击 ›› 2015, Vol. 34 ›› Issue (13) : 152-157.

论文

王益鹤，杨娜

作者信息 +

Study on parameters in the new bipedal model for analysis of walking loads

WANG Yihe，YANG Na

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文章历史 +

摘要

双足模型可模拟人的周期步行问题。基于ISO 5982模型与双足模型，建立了新型双足步行模型。采用Lagrange方程描述步行过程中的运动方程，确定了系统的质量矩阵、刚度矩阵、阻尼矩阵和荷载向量。研究了人体步行的力学特性及能量变化过程，分析了腿刚度、冲击角和步行速度等参数对地面反力的影响。结果表明：新型双足模型能够模拟包括双足和单足支撑阶段完整连续的步行过程；连续平稳步行中的总能量恒定，各能量随步行过程在重力势能、弹性势能和动能之间转化；腿刚度、冲击角和步行速度对步行特性有较大影响，但腿刚度对步行周期和步长的影响较小。

Abstract

It has previously been shown that a bipedal model can be employed to simulate periodic human walking. Based on the model in ISO 5982 and bipedal model, a new bipedal model is introduced. The dynamic equation of human walking is established by means of the Lagrange equation. The mass, damping, stiffness matrices, and the force vector of the system were defined from these equations. Walking characteristics and energy change is studied. And the effects of stiffness, impact angle and walking speed are investigated. The results show that the new bipedal model can reproduce periodic walking cycle that consists of the single and double support phases. The total energy of the model is constant, which convert between the gravitational potential energy, kinetic energy and elastic potential energy. Variations in the leg stiffness, attack angle and walking speed had a substantial effect on the walking characteristics, and increase in leg stiffness had a small effect on the period and step length.

导出引用

王益鹤，杨娜. 基于新型双足模型的步行荷载分析及其参数研究[J]. 振动与冲击, 2015, 34(13): 152-157

WANG Yihe，YANG Na. Study on parameters in the new bipedal model for analysis of walking loads[J]. Journal of Vibration and Shock, 2015, 34(13): 152-157

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