van den Bogert A J, Schamhardt H C, Crowe A
Department of Veterinary Anatomy, Utrecht University, The Netherlands.
J Biomech. 1989;22(1):33-41. doi: 10.1016/0021-9290(89)90182-6.
Locomotion of the horse is simulated using a mathematical model based on rigid body dynamics. A general method to generate the equations of motion for a two-dimensional rigid body model with an arbitrary number of hinge joints is presented and a numerical solution method, restricted to tree-structured models, is described. Joint movements originating from muscular forces or moments are simulated, but the method also allows that parts of the model follow strictly the pattern of kinematic data. Moment-generators with first-order linear feedback were used as a rotational muscle-equivalent. Ground-hoof interaction forces are approximated by a viscoelastic model and pseudo-Coulomb friction in vertical and horizontal directions respectively. Results of model simulations are compared to experimentally recorded data. Subsequently, adjustments are made to improve the agreement between simulation and experimental results.
利用基于刚体动力学的数学模型模拟马的运动。提出了一种为具有任意数量铰链接头的二维刚体模型生成运动方程的通用方法，并描述了一种仅限于树形结构模型的数值求解方法。模拟了由肌肉力或力矩引起的关节运动，但该方法也允许模型的某些部分严格遵循运动学数据模式。使用具有一阶线性反馈的力矩发生器作为旋转肌肉等效物。地面-蹄相互作用力分别通过粘弹性模型和垂直与水平方向的伪库仑摩擦来近似。将模型模拟结果与实验记录数据进行比较。随后进行调整，以提高模拟结果与实验结果之间的一致性。
