Anthropoid movement on a movable base

The antropoid model of three mobile links that can change their configuration due to internal steering forces and the mobile surface reactions with the specified motion is considered in the article. The first bottom link simulates shin, the second link simulates hip, and the third link simulates the body with the head. The proposed model differs from the existing ones in utilization of angles between links. In the preceding studies of anthropoid dynamics simulation, the angles are usually calculated from a particular assigned direction - either vertical or horizontal. This approach, however, is inconsistent with the musculoskeletal system biomechanics of anthropoid, exoskeleton, or anthropomorphic robot. The positions of their links are specified by the angles between the links. This approach of specifying the angles makes the system of differential equations, describing the proposed model motion, more complicated in comparison with the models where the angles are calculated from the assigned direction. The local mobile systems of coordinates are fixed with the corresponding links and are used for deriving the motion equations. The programmed motion corresponding to the specified law of generalized coordinates change is considered. The corresponding controlling forces are figured out as the result of the forward problem solution. The link control is simulated with the piecewise step function. The impact of the passive exoskeleton own mass is considered. The spinning rotors impact of the active exoskeleton’s electric drives on the dynamics of human-exoskeleton biomechanical system is studied. The energy consumption in each drive is estimated. The entire cycle of anthropoid dynamics simulation on the movable base in different motion modes is conducted. The value of the obtained results lies in the fact that the proposed model can be used directly in creating anthropomorphic robots and exoskeletons.