双足负重行走中扁担参数对腰部力矩影响的仿真研究

许宇宁; 黄京; 陈恳; 付成龙

doi:10.16511/j.cnki.qhdxxb.2019.22.014

PDF(1194 KB)

清华大学学报（自然科学版） ›› 2019, Vol. 59 ›› Issue (9) : 757-764. DOI: 10.16511/j.cnki.qhdxxb.2019.22.014

机械工程

双足负重行走中扁担参数对腰部力矩影响的仿真研究

许宇宁¹, 黄京¹, 陈恳¹, 付成龙²

作者信息 +

Simulation of the effects of shoulder-pole parameters on the waist torque during biped load walking

XU Yuning¹, HUANG Jing¹, CHEN Ken¹, FU Chenglong²

Author information +

文章历史 +

摘要

扁担通过将重物分配在躯干前后来改变负重的传递路径，从而降低维持躯干竖直所需的腰部力矩。传统针对负重行走的建模研究主要集中在竖直方向而忽略了行走过程中腰部力矩维持躯干竖直所产生的能量消耗。该文建立了具有躯干的扁担负重模型。通过仿真计算获得了行走速度、扁担长度与扁担悬绳长度对负重行走时腰部力矩的影响。研究结果表明：腰部力矩的影响不可忽略，延长扁担、减少重物摆动、恰当的重物合质心位置均有利于降低腰部力矩。实际扁担挑运过程中挑运者对扁担长度、悬绳长度的选择，及扁担挑运过程中挑担者用手控制重物摆动都是为了降低行走中最大腰部力矩及腰部力矩能耗。

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.

导出引用

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 https://doi.org/10.16511/j.cnki.qhdxxb.2019.22.014

XU Yuning, HUANG Jing, CHEN Ken, FU Chenglong. Simulation of the effects of shoulder-pole parameters on the waist torque during biped load walking[J]. Journal of Tsinghua University(Science and Technology). 2019, 59(9): 757-764 https://doi.org/10.16511/j.cnki.qhdxxb.2019.22.014

参考文献

[1] POTWAR K, ACKERMAN J, SEIPEL J. Design of compliant bamboo poles for carrying loads[J]. Journal of Mechanical Design, 2015, 137(1):011404.
[2] KRAM R. Carrying loads with springy poles[J]. Journal of Applied Physiology, 1991, 71(3):1119-1122.
[3] BALOGUN J A. Ergonomic comparison of three modes of load carriage[J]. International Archives of Occupational and Environmental Health, 1986, 58(1):35-46.
[4] KENNTNER G. Customs and efficiency in carrying loads of the inhabitants of the southern Himalayas. A contribution to biogeographic research[J]. Zeitschrift für Morphologie und Anthropologie, 1969, 61(2):125-169.
[5] BASTIEN G J, SCHEPENS B, WILLEMS P A, et al. Energetics of load carrying in Nepalese porters[J]. Science, 2005, 308(5729):1755.
[6] 张义同, 张岚. 关于扁担的力学[J]. 力学与实践, 2002, 24(5):76-78. ZHANG Y T, ZHANG L. Mechanics on the shoulder pole[J]. Mechanics in Engineering, 2002, 24(5):76-78.
[7] BIRRELL S A, HOOPER R H, HASLAM R A. The effect of military load carriage on ground reaction forces[J]. Gait & Posture, 2007, 26(4):611-614.
[8] 邱信明. 扁担是否真的省力?[J]. 力学与实践, 2018, 40(1):108-111. QIU X M. Is the shoulder-pole really effective?[J]. Mechanics in Engineering, 2018, 40(1):108-111. (in Chinese)
[9] 潘晓慧, 罗元辉. 论扁担固有频率与挑夫行进频率关系[J]. 西南师范大学学报(自然科学版), 2010, 35(6):193-195. PAN X H, LUO Y H. On relationship between inherent frequency of carrying pole and marching frequency of porter[J]. Journal of Southwest China Normal University (Natural Science Edition), 2010, 35(6):193-195. (in Chinese)
[10] CASTILLO E R, LIEBERMAN G M, MCCARTY L S, et al. Effects of pole compliance and step frequency on the biomechanics and economy of pole carrying during human walking[J]. Journal of Applied Physiology, 2014, 117(5):507-517.
[11] ACKERMAN J, SEIPEL J. A model of human walking energetics with an elastically-suspended load[J]. Journal of Biomechanics, 2014, 47(8):1922-1927.
[12] 尤明庆. 关于扁担挑运力学原理的注记[J]. 力学与实践, 2011, 33(4):87-89. YOU M Q. A note to the mechanical principle in carrying with shoulder-pole[J]. Mechanics in Engineering, 2011, 33(4):87-89. (in Chinese)
[13] WU Y H, CHEN K, FU C L. Effects of load connection form on efficiency and kinetics of biped walking[J]. Journal of Mechanisms and Robotics, 2016, 8(6):061015.
[14] GARCIA M, CHATTERJEE A, RUINA A, et al. The simplest walking model:Stability, complexity, and scaling[J]. Journal of Biomechanical Engineering, 1998, 120(2):281-288.
[15] KUO A D. Energetics of actively powered locomotion using the simplest walking model[J]. Journal of Biomechanical Engineering, 2002, 124(1):113-120.
[16] 呼慧敏, 晁储芝, 赵朝义. 中国成年人人体尺寸数据相关性研究[J]. 人类工效学, 2014, 20(3):49-53. HU H M, CHAO C Z, ZHAO C Y. Research on the correlation of human body size data in Chinese adults[J]. Chinese Journal of Ergonomics, 2014, 20(3):49-53. (in Chinese)
[17] 马广韬, 孙海义, 徐玉梅. 人体尺寸回归方程的修正及应用[J]. 沈阳建筑大学学报(自然科学版), 2010, 26(3):581-585. MA G T, SUN H Y, XU Y M. Research and application of ergonomics based on statistical method[J]. Journal of Shenyang Jianzhu University (Natural Science), 2010, 26(3):581-585. (in Chinese)
[18] 刘静民, 仰红慧. 人体转动惯量的研究综述[J]. 体育科学, 2001, 21(4):81-86. LIU J M, YANG H H. An overview of research on human rotational inertia[J]. Sport Science, 2001, 21(4):81-86. (in Chinese)
[19] SCHROEDER R T, CROFT J L, NGO G D, et al. Properties of traditional bamboo carrying poles have implications for user interactions[J]. PLoS One, 2018, 13(5):e0196208.