DYNAMICS CONTROL OF AN ANTHROPOID EXO-DEVICE WITH FIVE LINKS
УПРАВЛЕНИЕ ДИНАМИКОЙ АНТРОПОИДНОГО ЭКЗОУСТРОЙСТВА С ПЯТЬЮ ЗВЕНЬЯМИ
Blinov A.O. Borisov A.V. Kaspirovich I.E. Kirgizbaev Zh.K. Mukharlyamov R.G.
2024Perm National Research Polytechnic University
Russian Journal of Biomechanics
2024#28Issue 4189 - 199 pp.
The dynamics of a 3D model of an anthropoid exodevice with five controlled absolutely rigid links and hinged joints is considered in the article. The mobility limitations, imposed on the hinges, corresponding to the motor capabilities of the real human musculoskeletal system, differ the proposed model from the earlier considered ones. The angles in the model are not calculated from the vertical or horizontal line, as it is usually introduced in studies on anthropomorphic mechanism simulations. These angles are calculated between the axes of local coordinate systems directed along the links, which makes the model closer to a real prototype where the angles between the links are changed. The control torques applied to the hinges implement motions corresponding to the human musculoskeletal system. The system dynamics is described by Lagrange equations of the second kind, composed in local coordinate systems using rotation matrices. The control torques, implementing the required motion, are calculated by solving the inverse dynamics problems. The obtained results can be used in design of exoskeletons, anthropomorphic robots, spacesuits, and manipulators. Эта статья доступна в соответствии с условиями лицензии Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0) This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0)
anthropoid exo-device , control , dynamics , energy integral , inverse problem , Lagrange equations , link , антропоидное экзоустройство , динамика , звено , интеграл энергии , обратная задача , управление , уравнения Лагранжа
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Branch of the National Research University Moscow Power Engineering Institute in Smolensk, Smolensk, Russian Federation
Peoples’ Friendship University of Russia, Moscow, Russian Federation
South Kazakhstan state pedagogical university, Shymkent, Kazakhstan
Branch of the National Research University Moscow Power Engineering Institute in Smolensk
Peoples’ Friendship University of Russia
South Kazakhstan state pedagogical university
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