Research And Design Of Jumping Mechanism Of The Football Defensive Wall

In football free kick teaching training,wall building have been widely used.The current wall agencies can automatically jump up and down through external control,but the jumping mechanism does not fully comply with the human jumping mechanism,nor can accurately simulate the dynamic defensive status of the player's constituent wall under the conditions of the game.Based on the prototype of the original dynamic football wall equipment and the analysis of the jumping robot and human body's jumping mechanism,a mobile wall of defenders prototype with humanoid jumping characteristics is designed in this paper,and this thesis mainly consists of the following research work:(1)With the help of Xi'an Institute of Physical Education,the body jumping exercises were experimentally studied.The body's jumping exercise experiments is recorded by high-speed camera,and the kinematics analysis of the experiment results are taken by SBCAA & CAI SYSTEM software,thus the kinematic parameters of human jumping are obtained,which lays the theoretical foundation for jumping structure design,kinematics and dynamics calculation.(2)Based on the bionics principle and the original jumping wall prototype,in this paper,wall of defender mechanism system is designed,which makes it possess the performance both of human-like jump and of a reflection of football wall.Then the main driving components of the prototype are optimized by ANSYS Workbench,making the structure more portable.(3)Kinematic problem of the simplified model is analyzed and calculated by using the theory calculation method of kinematics,the kinematics matrix equations and curves of each moving part are acquired.Then in order to obtain each movement component movement parameter curve,the movement simulation of the physical model is carried on by using ADAMS simulation software.(4)Through using variable fourth-order polynomial interpolation method and boundary value conditions,the trajectory planning for the three stages of the total center of mass is taken,and different motion trajectories in different phases are obtained.(5)The dynamic equation of the physical model and the external force equation of the sole were established by using the Lagrangian equation and the spring damping principle respectively,then the dynamic mathematical model of the entire mechanism was integrated.The dynamic model is established by using SimMechanics simulation tool in MATLAB,through the simulation analysis,the output torque,taking off reaction force and other dynamic curves is getting.