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

XU Yuning; HUANG Jing; CHEN Ken; FU Chenglong

doi:10.16511/j.cnki.qhdxxb.2019.22.014

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Journal of Tsinghua University(Science and Technology) ›› 2019, Vol. 59 ›› Issue (9) : 757-764. DOI: 10.16511/j.cnki.qhdxxb.2019.22.014

MECHANICAL ENGINEERING

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

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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.

Key words

shoulder pole model / load walking / waist torque / energy consumption

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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

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