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为了模拟失重状态,航天技术发达的国家都建立了用于航天员出舱活动训练的中性浮力水槽。但与太空失重环境相比,水中存在的水动阻力会导致两种环境下人体运动反馈的差异性。基于ADAMS多体动力学仿真软件,按照“飞天”舱外航天服的质量分布,建立了着舱外服人体动力学模型。利用此模型仿真比较了水下和失重环境中肘关节屈伸、肩内收外展、肩矢状面内运动时人体躯干的动力学反馈,发现水下环境中模型躯干的转动速度峰值和平均值均较大。研究结果已应用于神舟七号载人飞行任务出舱活动航天员训练,建立的航天员人体动力学模型可应用于我国未来空间站任务出舱活动仿真分析。 相似文献
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航天员太空飞行中,需要改变自身位置与朝向以完成不同的作业任务,当其无法触碰到手脚限制器等借助物时,会涉及通过自身动作的转换产生人体旋转的问题。为此,首先基于Roberson-Wittenburg方法建立了人体动力学方程,据此提出能够使得人体转动的肢体操作方法,然后采用悬吊法模拟太空失重环境,对比不同控制方法产生的旋转作用效果,发现肢体旋转时与身体的夹角和肢体旋转速度是影响人体旋转完成时间和关节力矩的主要因素,最后结合推荐动作与实验结果提出空间姿态变换运动的操作建议。结果表明本文推荐动作有一定的优越性,对航天员处于太空中的自旋转运动具有实用意义。 相似文献
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针对未来深空探测活动中航天员在多种复杂任务环境下的运动助力需求,提出一种面向航天员穿戴式助力系统的运动意图检测算法。以航天员的关节力矩作为运动意图的表征,利用希尔伯特-黄变换对特定肌肉发出的肌声信号进行滤波处理,以消除由肢体运动导致的伪迹噪声和由传感器引入的高频噪声,并参照肌肉的发力原理对滤波后的肌声信号进行特征值提取,通过机器学习的方法建立肌声信号与关节力矩间的映射关系,使助力系统能够及时准确地识别出航天员的运动意图并实施助力。最后募集了3名志愿者进行了150 000组样本数据关节力矩辨识实验,实验结果表明:所提出算法的决定系数可达0.953 2,能够有效辨识航天员的运动意图。 相似文献
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反向旋转双转子系统动力学特性的有限元分析 总被引:1,自引:0,他引:1
近年来,有限元方法在计算转子系统的动力学特性方面得到了很大的发展。利用有限元方法计算了反向旋转双转子系统的动力学特性,分析了反向旋转双转子结构的临界转速特性和主振型特点。研究了中介轴承刚度和转速比对该双转子系统临界转速的影响。通过对结果的分析,得到一系列十分有益的结论,可为反向旋转双转子系统的设计提供一定的参考价值。 相似文献
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《载人航天》2017,(6)
为了提高舱外航天服运动性能,保证航天员舱外活动的灵活性与舒适性,从生物学出发,以人体行走为例,研究了下肢膝关节运动特征及肌肉肌腱参数。首先从解剖学角度对人体下肢肌骨模型进行分析,其次对人体下肢关节的运动学、肌肉肌腱参数与动力学特征等进行研究,最后分析下肢膝关节力矩、角加速度与关节惯量的关系。结果表明:人体下肢膝关节处于最大屈曲位时,关节角加速度几乎同时达到最大;内外侧腓肠肌与股直肌分别在支撑期与摆动期提供重要力量;行走运动中的人体膝关节力矩与角加速度未呈现较好线性关系,但关节惯量与周期(时间)序列可完成较好线性拟合。该结果可为太空环境下的相关研究及舱外航天服的设计提供一定参考。 相似文献
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把人体看作由13个刚体铰接所组成的多刚体系统,采用逆动力学方法建立起人体行走的动力学方程,以步态实验所得运动学数据为输入,计算出人体行走过程中各关节所受肌肉力矩、关节反作用力以及地面对人体的反作用力等动力学参数,并通过仿真分析,验证了建模方法的有效性。 相似文献
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具有冗余度的三分支空间机器人的运动学分析 总被引:1,自引:0,他引:1
基于例如空间站等恶劣的应用环境,研制了一种具有冗余度的三分支空间机器人。该机器人的一个分支的末端可以和基座固联,另外两个分支可以进行控制来完成各种作业。在宇航员不在的情况下,该机器人可以代替宇航员对科学实验载荷进行操作。利用旋量理论对机器人的逆运动学进行了分析,并建立了统一的数学模型给出了其运动学优化、动力学优化以及容错控制的理论基础。基于球腕的封闭解,提出了一个简单的逆运动学模型。最后,通过计算机结果演示验证了所提出逆运动学模型的有效性。 相似文献
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采用D—H方法建立打磨机操作臂的运动学方程,并讨论该操作臂的运动学问题。首次将MATLAB中的Robotics Toolbox命令与编写的MATLAB程序相结合应用于新型打磨机操作臂正运动学、逆运动学仿真,并对正、逆运动学以及空间轨迹进行了实例仿真。通过仿真观察到操作臂各个关节的运动并得到了所需的数据,说明操作臂建模以及所设计参数的合理性和运动算法的正确性,为打磨机的动力学、控制和规划的研究提供了可靠的参数。 相似文献
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Brody AR 《Aerospace America》1993,31(10):18-21
The effects of human error on aviation and space flight are discussed and the role of human factor engineering in aviation and aerospace safety is examined. Specific areas discussed are docking and extravehicular activity; quantification of human capacity for space station design; and measurement of habitability, workload, and task analysis. 相似文献
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This paper introduces a novel and efficient algorithm for online estimation of zero-effortmiss and time-to-go based on data driven method.Only missile-target separations are utilized to construct the estimation models, and a practical Fisher fusion algorithm is derived to acquire the estimates with high accuracy and computational efficiency.Further, the two parameters can be online estimated at a particular time.Meanwhile, the kinematics equations of the missile-target engagement are independent, and assumptions of the missile guidance system dynamics and behaviors of the missile and target are completely out of consideration.Moreover, the effectiveness and applicability are explicitly verified through various simulation scenarios. 相似文献
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《Progress in Aerospace Sciences》2006,42(3):174-210
The technique of inverse simulation is finding application in many and varied fields. As the name implies this technique is used to calculate the control action required to achieve a specified system response. The field of aircraft flight dynamics is particularly suited to this form of simulation as the question of what control actions must the pilot (or automatic flight control system) take for the aircraft to fly along a particular trajectory (a landing approach, for example) is often asked. This paper looks specifically at the application of inverse simulation in flight dynamics. The aim is not only to give an overview of the various techniques and applications but also to provide guidance to potential users of the technique on several of the physical and numerical features often observed in the results. An extensive review of the methodologies used within the family of inverse simulations is presented followed by a formal treatment of the theoretical development of inverse simulation as an established technique. A case study involving the inverse simulation of a helicopter flying a slalom manoeuvre is presented to demonstrate the application of inverse simulation in a flight dynamics analysis. An important feature of the use of inverse simulation is that it is necessary to define the output response required—in the case of flight dynamics the required flight path has to be modelled. Some of the methods used are documented, and their validity discussed. The paper also gives an insight into the types of problem which can be addressed by inverse simulation by detailing some of the many applications to which it has been put in the past. These include studies of rotorcraft handling qualities, performance and design, and pilot modelling as well as model validation. An important element of this paper is the formal, theoretical analysis of some of the numerical and physical features exhibited by inverse simulation which should aid potential users to interpret their results. The work presented in this paper shows a clear evolution of inverse simulation from its initial days when the mathematical models used were relatively simple into a mature analytical technique able to incorporate state of the art mathematical models and be applied to real flight dynamics problems. 相似文献