| 简化的人体上肢两刚体系统动力学方程的推导 |
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| 引用本文： | 史俊芬,张绪树,宋红芳,陈维毅. 简化的人体上肢两刚体系统动力学方程的推导[J]. 太原理工大学学报, 2002, 33(5): 472-474,481 |
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| 作者姓名： | 史俊芬 张绪树 宋红芳 陈维毅 |
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| 作者单位： | 太原理工大学应用力学研究所 |
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| 基金项目： | 国家自然科学基金资助项目 (19972 0 45 )，山西省自然科学基金资助项目 (9810 0 5 ) |
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| 摘 要： | 通过对人体上肢解剖结构的分析研究，把上肢骨骼结构简化为两刚体的运动系统，将肱骨和躯干的连结简化为球铰，前臂和肱骨的连结简化为转动副，形成一个4自由度的两刚体系统，运用多刚体动力学理论，以卡尔登角作为广义坐标，进而推导并建立了人体上肢的动力学方程。
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| 关 键 词： | 人体上肢 两刚体系统 动力学方程 卡尔登角 解剖结构 |
| 文章编号： | 1007-9432(2002)05-0472-03 |
Derivation of Dynamic Equations of Human Upper Extremity Simplified as Two-Rigid-Body System |
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| Shi Junfen,Zhang Xushu,Song Hongfang,Chen Weiyi. Derivation of Dynamic Equations of Human Upper Extremity Simplified as Two-Rigid-Body System[J]. Journal of Taiyuan University of Technology, 2002, 33(5): 472-474,481 |
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| Authors: | Shi Junfen Zhang Xushu Song Hongfang Chen Weiyi |
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| Affiliation: | The Institute of Applied Mechanics of TUT |
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| Abstract: | On the analysis of the anatomy structure of human shoulder, the upper limbs was simplified as a motion system of two rigid bodies, the joint of humeral and body as a spherical joint, the joint of forearm and humeral as a hinge. Thus we got a two rigid body motion system with four DOFs. Using the dynamical theory of multi rigid body and taking Cardau Angular as the general coordinates, the dynamical equations of human upper limbs were established. |
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| Keywords: | Multi rigid body Dynamics Cardau angle |
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