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目的目前航天员舱外活动所建的航天员生物力学模型缺乏人体解剖信息,且未见合理的验证方法;本文旨在给出相应解决方法,为航天员舱外活动仿真的进一步应用提供依据。方法选取典型舱外活动实例,建立带有肌肉作用力的航天员上肢反向运动学、动力学模型并进行仿真计算;利用运动学结果驱动OpenGL软件生成动画,实现运动学验证,进而辅以实物模型完成模型的动力学验证。结果运动学验证表明计算结果的正确性,动力学验证及仿真所得两块肌肉力结果的平均相对误差分别为14.54%和0.91%。结论本文建立了合理的航天员上肢模型,并进行了仿真计算;该仿真结果可信,提出的验证方法可行,为航天员舱外活动的生物力学仿真及验证提供支持。
Aims At present, the astronauts’ biomechanical model built by the astronaut’s extra-territorial activity lacks human anatomical information and no reasonable verification method is found. This paper aims to provide corresponding solutions to provide basis for the further application of the astronaut’s extra-territorial activity simulation. Methods A typical examples of extracavity activities were selected to establish the reverse kinematics and dynamics model of upper extremities with muscle force and to simulate them. The OpenGL software was used to generate animations based on the kinematic results to achieve kinematic verification, The model completes the dynamic verification of the model. Results The results of kinematic tests showed that the correctness of the calculation results, the average relative errors of the dynamic test results and the simulated results of the two muscle forces were 14.54% and 0.91%, respectively. Conclusion This paper establishes a reasonable astronaut upper limb model and carries out the simulation calculation. The simulation result is credible and the proposed verification method is feasible, which provides support for the biomechanical simulation and verification of astronaut extravehicular activities.