奔跑仿生机构的运动学模型构建与分析

对猎豹的奔跑机构的骨骼肌肉系统的运动学模型及运动学特性进行了研究。基于已有数据,对猎豹的前后肢建立了机构模型,对其奔跑的运动过程进行仿真,计算并描述其趾端运动轨迹;结合骨骼肌肉的位置参数与已构建的运动学模型，对猎豹的骨肌坐标系统进行建模，对肌肉肌群的长度变化进行计算；进行骨肌坐标系统的运动仿真，并利用肌肉力计算模型，求解了猎豹前后肢各关节的力矩变化。基于已有解剖学数据对哺乳动物的高速运动特性从仿生学角度进行了分析，为高速奔跑机构仿生机理的实现提供了切实的数据支持，对猎豹高速奔跑的运动学特性进行了充分研究。

Kinematic Construction and Analyses for a Running Bionic Mechanism

The construction method for kinematic model and the analyses for  kinematic characteristics  of  musculoskeletal  system  of  cheetah was studied herein.Firstly,based on the anatomical data,the  kinematic model of forelimb and hindlimb mechanism were constructed,and the running process was simulated;Secondly,based on the position of each muscle distributed on the cheetah and the constructed kinematic model of each limb,the whole musculoskeletal system of the cheetah could be constructed,and the length of each muscle also could be obtained based on the calculation between two attached points of the muscle lines;Finally,the simulation experiments  for the whole model of the constructed musculoskeletal system  were  done using the recorded joint angles, and the variable torques  applied to each joint of forelimbs and hindlimbls were solved by using the muscular force calculation method.High speed motion characteristics of mammals  were analyzed from the perspective of bionics based on the available anatomical data.Real data support was provided for the realization of bionic mechanism of high speed running mechanism. The kinematic characteristics of the high speed running of the cheetah were studied.