Dual-Arm Dynamic Motion Simulation and Prediction of Joint Constraint Loads Using Optimization 2007-01-2491
Our previous formulation for optimization-based dynamic motion simulation of a serial-link human upper body (from waist to right hand) is extended to predict the motion of a tree-structured human model that includes the torso, right arm, and left arm, with various applied external loads. The dynamics of tree-structured systems is formulated and implemented. The equations of motion for the tree structures must be derived carefully when dealing with the connection link. The optimum solution results show realistic dual-arm human motions and the required joint actuator torques.
In the second part of this paper, a new method is introduced in which the constraint forces and moments at the joints are calculated along with the motion and muscle-induced actuator torques. A set of fictitious joints are modeled in addition to the real joints. Then the constraint forces/moments for the fictitious joints are obtained from an extension of our optimization method together with zero-displacement constraints. Our formulation provides a multi-body dynamics method that does not require numerical integration and results in accurate joint constraint loads.
Citation: Kim, J., Abdel-Malek, K., Yang, J., and Nebel, K., "Dual-Arm Dynamic Motion Simulation and Prediction of Joint Constraint Loads Using Optimization," SAE Technical Paper 2007-01-2491, 2007, https://doi.org/10.4271/2007-01-2491. Download Citation
Author(s):
Joo H. Kim, Karim Abdel-Malek, Jingzhou Yang, Kyle J. Nebel
Affiliated:
The University of Iowa
Pages: 15
Event:
2007 Digital Human Modeling Conference
ISSN:
0148-7191
e-ISSN:
2688-3627
Also in:
SAE 2007 Transactions Journal of Passenger Cars: Mechanical Systems-V116-6
Related Topics:
Kinematics
Hand
Arm
Torso
Simulation and modeling
Optimization
Sensors and actuators
SAE MOBILUS
Subscribers can view annotate, and download all of SAE's content.
Learn More »
