<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>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.</p>
</abstract>

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.

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

Institute of Physical Education, Boda College

Department of Information Systems, Faculty of Computing and Information Technology

Applied Mathematics and Nonlinear Sciences

This work is licensed under the Creative Commons Attribution 4.0 International License.

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...

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

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

Data publikacji: 15 gru 2021

Zakres stron: 239 - 248

Otrzymano: 16 cze 2021

Przyjęty: 24 wrz 2021

DOI: https://doi.org/10.2478/amns.2021.1.00052

Słowa kluczowe
Sanda exercise, lower limb strength training, lower limb strength training, omnidirectional wheels, virtual prototype technology

© 2021 Chenguang Li et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Modelling quantity statistics

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

Data publikacji: 15 gru 2021

Zakres stron: 239 - 248

Otrzymano: 16 cze 2021

Przyjęty: 24 wrz 2021

DOI: https://doi.org/10.2478/amns.2021.1.00052

Słowa kluczoweSanda exercise, lower limb strength training, lower limb strength training, omnidirectional wheels, virtual prototype technology

© 2021 Chenguang Li et al., published by Sciendo

This work is licensed under the Creative Commons Attribution 4.0 International License.

Fig. 1

Fig. 2

Fig. 3

Fig. 4

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Modelling quantity statistics

Słowa kluczowe
Sanda exercise, lower limb strength training, lower limb strength training, omnidirectional wheels, virtual prototype technology