Two-Dimensional Team Lifting Prediction With Different Box Weights
Two-Dimensional Team Lifting Prediction With Different Box Weights
复制标题
不同箱子重量的二维团队举重预测
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Y. Xiang
中科院分区：
文献类型：
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作者：
Asif Arefeen;Y. Xiang
提出了一种新的多体动力学建模方法，用于二维团队举升预测。盒子本身被建模为Denavit-Hartenberg表示中的浮基刚体。人与盒子之间的相互作用被建模为一组抓力，其被视为优化配方中的未知数（设计变量）。一个基于逆动力学的优化方法被用来模拟团队升降运动，其中两个人的动态努力被最小化受到物理和基于任务的约束。设计变量是两个人和盒子的关节角轮廓的三次B样条的控制点，以及人和盒子之间的抓握力。两个数值例子成功地模拟了不同的箱子重量（分别为20公斤和30公斤）。人类的关节角度，扭矩，地面反作用力，抓力的档案。结合实验数据验证了关节角轮廓。
A novel multibody dynamics modeling method is proposed for two-dimensional (2D) team lifting prediction. The box itself is modeled as a floating-base rigid body in Denavit-Hartenberg representation. The interactions between humans and box are modeled as a set of grasping forces which are treated as unknowns (design variables) in the optimization formulation. An inverse-dynamics-based optimization method is used to simulate the team lifting motion where the dynamic effort of two humans is minimized subjected to physical and task-based constraints. The design variables are control points of cubic B-splines of joint angle profiles of two humans and the box, and the grasping forces between humans and the box. Two numerical examples are successfully simulated with different box weights (20 Kg and 30 Kg, respectively). The humans’ joint angle, torque, ground reaction force, and grasping force profiles are reported. The joint angle profiles are validated with the experimental data.