Abstract
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.
Highlights
In martial arts Sanda, the side leg is often regarded as a ‘heavy weapon’ with high strength and lethality
Li et al Applied Mathematics and Nonlinear Sciences 1–10 and is easy to be seen by opponents, often in actual combat and short-sale or counter-attack
The correspondence between wheel speed and trajectory was derived from the perspective of mathematical modelling
Summary
In martial arts Sanda (hand), the side leg is often regarded as a ‘heavy weapon’ with high strength and lethality (heavily enough to stun the opponent on the spot and win the entire game). When completing the side leg movements, due to the large moment of inertia of the entire leg, the time required to start is relatively long. The trajectory (route) travelled is long, so the concealment of the movement is relatively poor. In order to improve the actual combat effect of the side legs, how to increase the concealment and suddenness of the athlete’s starting, how to increase the swing angular velocity and the striking speed and how to improve the effectiveness and pertinence of the striking should be the problems to be solved by training and scientific research [1,2,3].
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