摘要
航天员在空间执行任务过程中由于受到空间微重力环境的影响,其运动的协调性以及平衡性均会与地面环境下的表现有所差异。以研究失重环境下航天员运动特点为目标,对航天员姿态调整策略进行动力学分析,并对运动过程人体效能进行评价。具体而言,在无外力/力矩驱动下,人体必须依靠四肢按一定的协调运动策略才能实现对躯干姿态的主动控制。而运动策略的分析则需要对人体全身运动过程的动力学原理进行研究。首先基于Newton-Euler法建立人体多刚体系统动力学模型,其次基于MBDyn软件以及计算力矩方法建立可对人体复杂运动过程进行仿真计算的闭环控制系统。最终,利用以上理论及系统,验证了人体依靠四肢按一定的运动策略进行姿态主动调节的可行性,所得各关节的动力学特性,为今后航天员执行任务过程动作设计提供了一定的理论支持。
The coordination and balance of astronauts′ motions during missions in space are different from those in the ground environment due to the microgravity environment. The characteristics of astronauts′ movement in microgravity environment were studied, the dynamics of astronaut attitude adjustment strategy was analyzed, and the human performance in the process of movement was evaluated. Specifically, in the absence of external force/moment actuation, the human body must rely on the limbs to achieve the active control of torso posture according to a certain coordinated motion strategy. On the other hand, in order to analyze the motion strategies, the dynamics principles of human whole-body movement process need to be studied. Firstly, the dynamics model of human multi-rigid body system was established based on Newton-Euler method, and secondly,the closed-loop control system based on MBDyn software and computational moment method was established, which can simulate and calculate the complex motion process of human body. Finally, using the above theory and system, the feasibility of the human body relying on the limbs to actively adjust the posture according to a certain motion strategy was verified, and the dynamics of each joint was obtained, which provides some theoretical support for the design of astronauts′ motion in the future mission.
作者
李志昌
黄倬然
李剑飞
曹哲
魏承
LI Zhichang;HUANG Zhuoran;LI Jianfei;CAO Zhe;WEI Cheng(Peking University People's Hospital,Beijing 100044,China;Harbin Institute of Technology,Harbin 150001,China;General Design Department of Space Vehicles,Beijing 100094,China;China Aerospace Science and Industry Corporation,Beijing 100048,China)
出处
《中国空间科学技术》
CSCD
北大核心
2022年第2期13-21,共9页
Chinese Space Science and Technology
基金
国防科工局民用航天项目(D020201)。
关键词
航天员
人体动力学模型
姿态调整策略
效能分析
多体动力学仿真
astronauts
human dynamics model
posture adjustment strategy
performance analysis
multibody dynamics simulation
