犬四肢维稳减振耦合机制及仿生无角位移减振机构研究

项目名称： 犬四肢维稳减振耦合机制及仿生无角位移减振机构研究

项目编号： No.51305157

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 机械、仪表工业

项目作者： 田为军

作者单位： 吉林大学

项目金额： 25万元

中文摘要： 地面机械、飞机等动载体所处环境复杂，其所携带的光电精密系统或精密智能装备常受到振动冲击引起的干扰，影响精度和稳定性。本项目针对制约动载体所搭载仪器设备精度和稳定性能的支撑平台减振科学问题，受四足动物高效的平衡控制和维稳特性启发，以典型四足动物-犬的四肢为研究对象，建立精细的四肢骨骼-肌肉系统三维生物力学模型，结合运动学和动力学试验，研究外部扰动下四肢各关节和四肢-躯干的运动力学规律；分析外部扰动在骨骼-肌肉系统中被有效调节、分配和传递的模式；对影响四肢维稳减振功能实现的各因素（耦元）与耦联方式进行辨识与权重分析，建立四肢维稳减振多元耦合可拓模型，设计优化出无角位移减振仿生耦合机构。研究预期揭示犬四肢各关节、四肢-躯干的协调运动机理和平衡耦合机制，开发无角位移减振支撑平台的仿生耦合设计新技术，为提高动载体携带装备稳定性与可靠性提供一种新的仿生设计方法。

中文关键词： 犬；运动特性；减振；力学模型；耦合

英文摘要： The working environments of the terrain-machine, aircraft and other moving vehicles are very complex, and the accuracy and stability of the precise photoelectricity instruments or precise intelligent equipments are often affected by vibration. Inspired by the efficient balance and stability control capability. the project selected how to solve the vibration which restricted the precision and stability of the instruments or equipments as the scientific question, and took the limbs of typical quadrupeds(dogs) as the research object. We will establish a fine three-dimensional skeletal muscle model, and study the kinematic mechanics laws of the limbs and limb-trunk combined with the obtained kinematic and kinetic parameters under the external disturbance; analyze the mode in which the external disturbance is adjusted, distributed and transmitted in the musculoskeletal system; identify and analyze the factors (coupling elements)influencing stability improvement and the vibration reduction, establish the multi-coupling bionic extensive model with good stability and the vibration reduction, and design and optimize a multi-coupling bionic irrotational displacement isolator. Research is expected to reveal the coordination and equilibrium coupling mechanism of the limb joints, limbs-trunk, and develop a new technology fo

英文关键词： Canine；kinetic characteristic；vibration reduction；mechanical model；coupling