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A mathematical model of the fractional differential method for structural design dynamics simulation of lower limb force movement step structure based on Sanda movement

Chenguang Li

Chenguang Li

Institute of Physical Education, Boda College, Jilin normal UniversitySiping, China
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Li, Chenguang
 und 
Dimah Alahmadi

Dimah Alahmadi

Department of Information Systems, Faculty of Computing and Information Technology, King Abdulaziz UniversityJeddah, Saudi Arabia
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Alahmadi, Dimah
  
15. Dez. 2021
A mathematical model of the fractional differential method for structural design dynamics simulation of lower limb force movement step structure based on Sanda movement's Cover Image
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Online veröffentlicht: 15. Dez. 2021
Seitenbereich: 239 - 248
Eingereicht: 16. Juni 2021
Akzeptiert: 24. Sept. 2021
DOI: https://doi.org/10.2478/amns.2021.1.00052
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© 2021 Chenguang Li et al., published by Sciendo
This work is licensed under the Creative Commons Attribution 4.0 International License.

Fig. 1

Motion analysis chart.
Motion analysis chart.

Fig. 2

Flow chart of modelling.
Flow chart of modelling.

Fig. 3

Part models of rehabilitative robot.
Part models of rehabilitative robot.

Fig. 4

Rehabilitative robot model in Pro/E.
Rehabilitative robot model in Pro/E.

Fig. 5

Adams model.
Adams model.

Fig. 6

Angle of omni-directional wheel vs. time under rotating state.
Angle of omni-directional wheel vs. time under rotating state.

Fig. 7

Trajectory and angular velocity of the robot under a rotating state.
Trajectory and angular velocity of the robot under a rotating state.

Fig. 8

Angle of omni-directional wheel vs. time under advancing state.
Angle of omni-directional wheel vs. time under advancing state.

Fig. 9

Trajectory and velocity of robot under an advancing state along z axis.
Trajectory and velocity of robot under an advancing state along z axis.

Modelling quantity statistics

Name Quantity Note
Components 42 1 main frame, 4 motor components, 4 main wheels, 32 hubs, 1 ground
Defining rigid bodies 43 1 main frame, 4 motor components, 4 main wheels, 32 auxiliary wheels, 1 ground, 1 rigid body by default
Constraint 37 36 rotating pairs, 1 locking pair
Contact force 32 Is the force between the auxiliary wheels (32) and the ground
Motion driver 4 Main wheels (4) rotation drive
Gravitational acceleration 1 y-direction acceleration
Sprache:
Englisch
Zeitrahmen der Veröffentlichung:
1 Hefte pro Jahr
Fachgebiete der Zeitschrift:
Biologie, Biologie, andere, Mathematik, Angewandte Mathematik, Mathematik, Allgemeines, Physik, Physik, andere
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