Simulation of the effects of shoulder-pole parameters on the waist torque during biped load walking
XU Yuning1, HUANG Jing1, CHEN Ken1, FU Chenglong2
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; 2. Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China
Abstract：Shoulder poles are commonly used to carry bulky loads with the weight distributed on the front and rear ends of the pole. The load transmission path reduces the torque on the waist needed to maintain the torso vertical. Traditional load carrying models have focused on the vertical direction while ignoring the influence of the waist torque to maintain the vertical alignment of the torso during walking. This paper presents a shoulder pole model for the torso. Simulations show that the waist torque is influenced by the walking speed, pole length, and suspension rope length. The simulations show that the effects of the torque on the waist should be considered while walking and longer shoulder poles, less load swing and proper position of the centroid of loads can reduce the waist torque. In practice, the shoulder pole length and suspension rope length should be chosen and the load swing should be controlled by hands to reduce the maximum torque on the waist and the energy consumption of the torque on the waist during walking.
许宇宁, 黄京, 陈恳, 付成龙. 双足负重行走中扁担参数对腰部力矩影响的仿真研究[J]. 清华大学学报（自然科学版）, 2019, 59(9): 757-764.
XU Yuning, HUANG Jing, CHEN Ken, FU Chenglong. Simulation of the effects of shoulder-pole parameters on the waist torque during biped load walking. Journal of Tsinghua University(Science and Technology), 2019, 59(9): 757-764.
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