دانلود کتاب مدل های ریاضی اسکلت بیرونی – دینامیک، قدرت، کنترلC

The monograph presents the current state of the problem of describing the musculoskeletal system of a person. A description is given of new approaches to modeling based on the use of weightless rods of variable length with concentrated masses. High-speed matrix and recurrence algorithms for compiling systems of differential equations of motion of the mechanical systems under consideration are proposed. The practical application to the tasks of numerical simulation of the movements of the musculoskeletal system of a person is described. Exoskeleton models with variable-length units based on absolutely hard sections and sections that change their telescopic type length have been developed. The book is intended for scientists and specialists in the field of theoretical mechanics, biomechanics, robotics and related fields. The book will be useful to teachers, as well as graduate students, undergraduates and senior students of higher educational institutions, whose research interests lie in the modeling of anthropomorphic and serpentine biomechanical systems.