拟人全臂假手逆向建模及运动模拟
Humanoid Whole Arm Reverse Modeling and Kinematic Simulation
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摘要: 应用三维造型软件CATIA对人体手臂点云进行逆向造型,满足了上假肢外观美容的要求。同时对建立的拟人全臂假手进行运动分析及运动控制算法研究,在CATIA/DMU Kinematics模块下进行运动模拟,为上假肢的运动方案和运动轨迹设计奠定基础。Abstract: The whole arm is constructed in CATIA by the arm point clouds, which can make the arm more anthropomorphic. Then kinematics analysis and control algorithm are carried out for the whole arm model. By CATIA/DMU Kinematics, its kinematics simulation is accomplished, which can be as the basis of the trajectory design and movement design of artificial upper limbs. Key words: humanoid whole arm; reverse design; kinematic analysis; simulation