Host: The Japan Society of Mechanical Engineers
Name : Dynamics and Design Conference 2023
Date : August 28, 2023 - August 31, 2023
In motion control and motion simulation, inertial properties (mass, center of gravity, inertia tensor) of object are fundamental and important parameters that serve as input values and have a significant impact on the accuracy of results. For this reason, an accurate identification method of inertial properties is strongly demanded. In multi-body dynamics, the inertial properties of individual links cannot be identified from link motion and inter-joint torque or external force data, because they are redundant to the multi-body dynamics model. Therefore, the minimum dynamic parameters necessary to represent the multibody dynamics model has been defined and identified. These dynamic parameters are obtained by combining the geometric parameters and the inertial properties of the counterpart elements and are called the minimal set of inertial parameters. The conventional identification methods use a set of measured link motion and ground reaction forces. Only the minimal set of inertial parameters for a sagittal plane can be identified from movements such as walking motion of human bodies. Thus, it is difficult to apply these methods to the identification of individual human bodies. In this paper, a new method for identifying the minimal set of inertial parameters of a multi-body system is developed by expanding and applying the identification method based on free vibration measurements, which is the identification method for inertial properties of single-body. The developed minimal set of inertial parameters identification method was applied to human identification and its performance was evaluated by measuring human.
