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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
 y 
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 dic 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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Publicado en línea: 15 dic 2021
Páginas: 239 - 248
Recibido: 16 jun 2021
Aceptado: 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
Idioma:
Inglés
Calendario de la edición:
1 veces al año
Temas de la revista:
Ciencias de la vida, Ciencias de la vida, otros, Matemáticas, Matemáticas aplicadas, Matemáticas generales, Física, Física, otros
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