论文部分内容阅读
目的探索更为精准的舱外航天服关节阻力矩测量和建模方法,为人-服交互运动生物力学仿真建立舱外航天服力学约束。方法分析国内外现有的关节阻力矩测量技术利弊,提出了自驱动式等速测量舱外航天服关节阻力矩的方法,并应用于服装内部有人和无人工况;采用NNOPM(RBF神经网络优化的Preisach迟滞模型)预测阻力矩随运动轨迹的变化,并与测量结果对比验证。结果内部无人和有人工况下的舱外航天服肘关节的阻力矩差异较大,肩关节的阻力矩差异较小。模型预测结果与实验测量结果一致。结论自驱动式等速测量方法和NNOPM能有效用于舱外航天服关节阻力矩的测量和建模。
Objective To explore a more accurate measurement and modeling method of joint resistance moment of the spacesuit joint, and to establish a mechanical space constraint constraint for man-service interaction kinematic biomechanical simulation. Methods Based on the analysis of the advantages and disadvantages of existing joint resistance torque measurement techniques both at home and abroad, a method of self-driven constant speed measurement of joint space resistance moment was proposed and applied to manned and unmanned conditions in clothing. The NNOPM (RBF neural network Optimized Preisach hysteresis model) to predict the change of drag torque with the trajectory, and verify with the measurement results. Results There was a great difference in the moment of resistance between the outer spacesuit and the elbow joint under unmanned and manned conditions and the difference of the moment of resistance of the shoulder joint was small. The model predictions are consistent with the experimental measurements. Conclusion Self-driven isokinetic measurement method and NNOPM can be effectively used for the measurement and modeling of joint resistance moment of spacesuit.