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

In order to promote the development of sports training robots and improve the training of lower limbs in Sanda, a new mechanical structure of Sanda training robots is designed. The thesis combines the mathematical method of fractional differential equations to design a new type of omnidirectional moving platform mechanism, which realises the movement in any direction in the plane and can turn at any radius during the movement. From the perspective of kinematics, the mathematical relationship between wheel speed and robot trajectory is analysed, and a virtual prototype technology combined with Pro/E and Adams joint modelling and simulation method is used to establish an accurate and reliable virtual prototype model. The experimental simulation results show that the designed virtual prototype model is consistent with the mathematical model, which verifies the practical feasibility of the mechanical structure of the lower limb power generation robot for Sanda movement, and provides a reliable basis for the establishment of the physical prototype.