Acquisition Of The Horse Movement Trajectory And Its Reproduction In The Parellel Robot Horse

With the development of society, the application of robotics is developing towards thelife activity gradually. At the same time, robot horse sports fitness has become one directionof modern fitness. The traditional riding exercise requires a series of conditions, including theextend fields, professional training and counseling, transportation. Riding exercise is limitedto realize though it has the realistic value. The aim of machine horse designing is to reproducethe horse riding and help people do some riding exercise.Firstly, this paper conducts mathematical analysis on the mechanical structure of themachine platform and establishes coordinate system to obtain variation functions of the sixdegrees of freedom slide block displacement. This function is that put three dimensionacceleration data and three dimension angular velocity data as input into the sliderdisplacement variation,which realizes acceleration and angular velocity data to control thehorse model pose.Secondly, space motion is analyzed, which according to a certain objects rotating to getstate changes from began to end of the rotation. The corresponding space rotation matrix iscalculated, combined with position between the horse model and machine platform to get thespace rotation function, achieving the conversion from horse sport exercise data to theplatform exercise data. ADIS16355is used as the sensor to collect the acceleration data andangular velocity data of walking and trotting, which is stored in SD card by the serialinterface of AVR micro-controller. Data between each other is not overlapped, which canguarantee its accuracy.Thirdly, Matlab is used to read the acceleration and angular velocity data in SD card, theacceleration and angular velocity data is segmented and interpolated, the average data ofsingle cycle acceleration and angular velocity data are present. Based on the nonlinearcharacteristic curve designed the corresponding acceleration correction algorithm and angularvelocity correction algorithm to get the actual one cycle of the acceleration and angularvelocity data curve. Analyzing the position between the horse model and machine platform and space movement function, the math model is established, which realizes the accelerationand angular velocity of horse model to the displacement and angle of machine platform. Thenmake the data into a loop, conduct Matlab simulation and observe the data curves. Finallytransplant the data into robot horse to reproduce the movement trajectory of the real horse.At last, this paper discusses the experimental production and experimental process, partsof experimental results are present. The data is transplanted into robot horse to reproduce themovement trajectory of the real horse through the six the pulley displacement variation. Theanalysis of experimental results shows that the robot horse can reproduce the movementtrajectory of real horse, better display the movements characteristics of real horse, and cansatisfy people’s need of taking exercises. The imitative horse movements can make every partof human body get enough exercises, gradually build up people’s body, at the same time bringconvenience to people’s life. In addition, according to the experimental findings andcorresponding analysis results, the paper puts forward improvement suggestions and carriesthrough a prospect for the further research in the future.