舱外航天服-航天员下肢系统动力学建模与分析
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摘要
针对未来月球、火星等地外星体表面探测对舱外航天服下肢系统活动性的需求,探讨了充压航天服对航天员下肢运动的影响,进行了航天服下肢系统自由度配置、航天服-航天员下肢系统的建模、运动学和动力学分析。首先,结合人体生理结构特点和工效学要求,配置了具有12个自由度的航天服下肢关节系统。然后采用DH参数法,对单腿6自由度系统进行了正逆运动学分析,并利用拉格朗日方法建立了人服系统的动力学方程。最后,以直立行走和上下楼梯模拟不同路况,定量分析了航天员在未着服、着服未充压和着服充压状态下髋关节、膝关节和踝关节的力矩变化。结果表明,航天服质量、转动惯量和关节阻力矩将增加航天员的活动负荷;不同路况下,下肢各关节的力矩受到不同影响。未来星表探测航天服设计时,合理确定航天服质量、关节结构形式是非常必要的。
Targeting the mobility demand on the lower extremity system in future lunar or Mars surface explorations,the influence of pressurized spacesuit on movement of astronaut lower limbs was discussed and the modeling,the kinematic and kinetic analysis of spacesuit-astronaut lower extremity system were carried out. According to the characteristics of human physiological structure and ergonomic requirements,the 12 degrees of freedom lower limb joint system of spacesuit was deployed. As to the single leg 6-DOF system,the forward and inverse kinematic analysis were performed via DH parameter method,and the dynamic equation was established using Lagrange method. Then the joint torques of the hip,the knee and the ankle were numerically determined for walking,ascending or descending stairs of astronauts with or without spacesuit. The simulation results showed that the mass,the moment of inertia and the joint resistant torque of pressured spacesuit increased the astronaut's joint load. The hip,knee and ankle joints suffered different effects under different terrains. It is necessary to consider the effects of mass and joint structure when designing future spacesuit.
Targeting the mobility demand on the lower extremity system in future lunar or Mars surface explorations,the influence of pressurized spacesuit on movement of astronaut lower limbs was discussed and the modeling,the kinematic and kinetic analysis of spacesuit-astronaut lower extremity system were carried out. According to the characteristics of human physiological structure and ergonomic requirements,the 12 degrees of freedom lower limb joint system of spacesuit was deployed. As to the single leg 6-DOF system,the forward and inverse kinematic analysis were performed via DH parameter method,and the dynamic equation was established using Lagrange method. Then the joint torques of the hip,the knee and the ankle were numerically determined for walking,ascending or descending stairs of astronauts with or without spacesuit. The simulation results showed that the mass,the moment of inertia and the joint resistant torque of pressured spacesuit increased the astronaut's joint load. The hip,knee and ankle joints suffered different effects under different terrains. It is necessary to consider the effects of mass and joint structure when designing future spacesuit.
引文
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[2] Holschuh B,Waldie J,Newman D,et al. Characterization ofstructural,volume and pressure components to space suit jointrigidity[C]//39thInternational Conference on EnvironmentalSystems,Savannah,Georgia,US,2009.
[3]王晓东,王政,李昊,等.舱外航天服关节阻力矩测量与建模方法研究[J].航天医学与医学工程,2015,28(3):195-202.Wang X D,Wang Z,Li H,et al. Research on the measure-ment and modeling method of joint resistance moment of extra-vehicular spacesuit[J]. Aerospace Medicine and Medical En-gineering,2015,28(3):195-202.(in Chinese)
[4]张万欣,李谭秋,尚坤,等.航天服压力防护技术发展与构想[J].航天医学与医学工程,2018,31(2):121-130.Zhang W X,Li T Q,Shang K,et al. Development and con-ception of spacesuit pressure protection technology[J]. Aero-space Medicine and Medical Engineering,2018,31(2):121-130.(in Chinese)
[5]江一帆,乔兵,赵颖.航天员低重力运动模拟训练方法与研究综述[J].载人航天,2018,24(2):227-237.Jiang Y F,Qiao B,Zhao Y. Review of reduced gravity simu-lation for astronaut training[J]. Manned Spaceflight,2018,24(2):227-237.(in Chinese)
[6] Newman D J,Schaffner G. Computational dynamic analysis ofextravehicular activity:large-mass handling[J]. Journal ofSpacecraft&Rockets,1998,35(2):225.
[7] Schaffner G,Newman D J,Robinson S K. Computational sim-ulation of extravehicular activity dynamics during a satellitecapture attempt[J]. Journal of Guidance,Control,and Dy-namics,2000,23(2):367-369.
[8] Rahn D B. A Dynamic Model of the Extravehicular MobilityUnit(EMU):Human Performance Issues during EVA[D].Cambridge:Massachusetts Institute of Technology,1997.
[9]王娟,庄达民.基于Lagrange方法的失重人体建模与仿真[J].北京航空航天大学学报,2006,32(3):254-257.Wang J,Zhuang D M. Modeling and Simulation of weightless-ness human body based on Lagrange method[J]. Journal ofBeijing University of Aeronautics and Astronautics,2006,32(3):254-257.(in Chinese)
[10]杨锋,李银霞,高峰,等.基于力矩比优化的航天员舱外活动仿真[J].航空学报,2004,25(5):433-437.Yang F,Li Y X,Gao F,et al. Extravehicular activity simula-tion of astronauts based on moment ratio optimization[J].Journal of Aeronautics,2004,25(5):433-437.(in Chi-nese)
[11]李昊,李东旭,陈善广.航天员舱外作业动力学建模与仿真方法研究[J].载人航天,2012,18(6):54-61.Li H,Li D X,Chen S G. Modeling and simulation methods ofastronauts’extravehicular operation dynamics[J]. Mannedspaceflight,2012,18(6):54-61.(in Chinese)
[12] GB10000-88中国成年人人体尺寸[S].GB10000-88 Human Body Size of Chinese Adults[S].(inChinese)
[13] GB/T17245-2004成年人人体惯性参数[S].GB/T 17245-2004 Human Inertial Parameters for Adults[S].(in Chinese)
[14] Stirling L,Willcox K,Newman D. Development of a computa-tional model for astronaut reorientation[J]. Journal of Biome-chanics,2010,43(12):2309-2314.
[15]梶田秀司.仿人机器人[M].北京:清华大学出版社,2007:47-49.Haotian X S. Humanoid Robot[M]. Beijing:Tsinghua Uni-versity Press,2007:47-49.(in Chinese)
[16] Steger J R. A Design and Control Methodology for Human Ex-oskeleton[D]. California:University of Berkeley,2006.
[17] Frazer A L. Modeling Human-Spacesuit Interactions[D].Cambridge:Massachusetts Institute of Technology,2003.
[18]张瑞红,金德闻.不同路况下正常步态特征研究[J].清华大学学报:自然科学版,2000,40(8):77-80.Zhang R H,Jin D W. Study on normal gait characteristics un-der different road conditions[J]. Journal of Tsinghua Univer-sity:Natural Science Edition,2000,40(8):77-80.(in Chi-nese)
[19]唐刚,魏高峰,周海,等.测量并分析上楼梯过程中下肢关节角变化[J].医用生物力学,2011,26(5):460-464.Tang G,Wei G F,Zhou H,et al. Measure and analyze thechanges of lower limb joint angle during ascending stairs[J].Medical Biomechanics,2011,26(5):460-464.(in Chi-nese)
[20]唐刚.人体典型运动生物力学仿真分析[D].上海:上海交通大学,2011.Tang G. Biomechanical Simulation Analysis of Typical HumanMotion[D]. Shanghai:Shanghai Jiaotong University,2011.(in Chinese)